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At some point, Grog almost got Trinket killed when he hit the bear's backside with the flat of his axe, startling him and sending him charging through a hallway full of traps, triggering every one of them in the process.
Other than this moment, Grog and Trinket are definitely buddies, as they wrestle playfully with each other, or eat papaya on the Slayer's Take Guild Hall floor. They also "tell jokes" to each other.