A non-sexual relationship with a minor is usually legal. But keep in mind that activities with a minor that may not involve actual sex, such as seeing each other nude or touching various body parts may also be illegal.
Even in a non-sexual relationship, there are certain rules when a minor is involved. Doing anything illegal or immoral could be deemed "contributing to the delinquency of a minor" which is a crime. But typically there are no legal issues with simply dating or spending time together.
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