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Help with issue with my cousin and I

hi

I have a cousin who is 22, and i am 19, male. We have known each other for our whole lives. we have been pretty close since we were young. I know marriage between first cousins is allowed but I personally would not marry my cousin. Though since we are so close i sometimes rub her feet or give foot massages. she is cool with it and let's me do it. I want to know if this act is allowed with a cousin even if we're not married or in a relationship. i don't know if its sexual or anything. Is this okay?

Thanks for you help :)