Things look rather tense between the outlaw and his queen. But we're not too worried. We remember the tension brewing between Robin and Regina in the Enchanted Forest. It didn't stop them from falling in love.
Soulmate status didn't stop Robin from doing the right thing and leaving Storybrooke with his family. A heartbroken Regina understood why he had to leave. But once they discovered Marian was really Zelena in disguise, the couple reunited. Sadly, Robin died saving Regina the following season.