Yes, Thor did forgive Loki, though their relationship was complex and evolved over time.
The forgiveness wasn't a single event but rather a gradual process marked by key moments in the Marvel Cinematic Universe. While they often clashed due to Loki's mischief and betrayals, Thor consistently held onto a brotherly bond.
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Initial Conflicts: Loki's actions in the first Thor movie and The Avengers strained their relationship immensely. Thor struggled to reconcile Loki's choices with their shared upbringing.
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Acceptance and Understanding: Over time, Thor began to understand Loki's motivations, recognizing that his brother's actions often stemmed from insecurity and a desire for recognition.
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Sacrifice and Redemption: Loki's sacrifice in Avengers: Infinity War, while initially appearing to be another trick, was a genuine act of selflessness to save Thor. The reference text supports this: "Loki is unable to watch his brother suffering and is brought close to tears." This moment solidified Thor's forgiveness and highlighted the deep connection they still shared.
Ultimately, the destruction of Asgard served as a catalyst for their reconciliation. While their time together after that was short-lived, it was evident that Thor had forgiven Loki for his past transgressions. Their shared history and brotherly love outweighed the pain and betrayals.