I read a book about 10 years ago where a group of people were on some kind of quest (as one does in fantasy). It was medieval technology (swords and horses, etc). And I remember long hair, lots of forest, interaction with elves, etc. It was a series and the books were long.
One main thing I remember was that one guy had a bad day (or the whole team did, I can't remember). There's a empath healer guy whose role is kind of physiatrist/keep the peace/be wise etc. And because the other team mate has had a bad day, the healer guy kisses him to make him feel better. It also implied that more happened I think.
It seemed like it was part of his role on the team, but that role was accepted as being normal and he wasn't treated any differently from anyone else. I remember it because it was just such a different, more casual approach to sexual relations.
At the time I was reading a lot of Feist and Eddings and I'm certainly sure it wasn't either of those. It was of similar style. The book was not recently released, probably released in the past 10-20 years before I read it.
I also remember the names were odd. Not normal names but more difficult to pronounce names with apostrophes in them.
I was an oblivious teenager at the time and it was 10 years ago so I have tried my best to remember.