Peridot has had one of the more interesting character progressions on a show that's full of them (see my answer to Is Steven Universe really a story about hate or acceptance?). Peridot with her “limb enhancers,” ca. Warp Tour. read more
She has allowed Steven to hug her on multiple occasions, and in "Gem Drill", she hugs Steven. Peridot does consider Steven a friend as revealed in "Message Received". She was upset that Steven locked her in a truck due to a misunderstanding about her intentions with contacting Homeworld. read more