I mean, we never see them interact, so we don’t know what their relationship was like. It could be that they got along well, it could be that Robert’s ableism was something of a bar to a relationship forming, we really don’t know.
It surprises me that Robert and Tyrion were not more friendly. They have a lot in common- drinking, whoring, hating Cersei, resenting Tywin- why weren’t they friends? Robert was known for charming enemies into friends (male ones, anyway), and Tyrion would happily enjoy the benefits of royal favour. I’d expect either one to happily strike up a friendship with the other just to see Cersei fume.
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