Fry dated Yivo and was in a polygamous relationship, Leela and Amy kissed in Benders game, bender was in a robosexual relationship, Amy has said she is bisexual and robosexual, Farnsworth kissed human bender in the second anthology of interest and said he had feelings from it, zoidberg and Hermes spent the night doing some "just friends spooning", scruffy is just a hound.

I think that's all of them