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Madara is Kira's everything;her family, her love, her heaven. Both want peace, Madara wants peace by putting everyone into the infinite tsukiyomi and Kira wants peace by staying with Madara forever with her love and extreme devotion for her. Both travel and plan together on how to cast the infinite tsukiyomi without letting any single person know about this

Madara: Kira!!! How many times do I need to tell you that don't put the towel away when I'm showering!!! he comes outta the bathroom with a frown on his face Kira got scared in her mind that she caused Madara even the slightest trouble Kira: I-I'm sorry!, Madara-sama. I won't forget next time

Madara: yeah yeah, whatever. Now, where is my tea!?!