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Most significantly, when she rescues him and another would-be victim from a Mook (right after Joe had just finished rescuing her, to boot) by knocking the man out, Joe comments "I am so totally in love with you" and starts making out with her.
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He does, at least, get a smooch from Deirdre at the Palace of Wisdom while looking for evidence. George Fayne and Danica are a couple, as are Joe Hardy and Bess Marvin, and by the end, Nancy is on her way to forming a relationship with Pete, leaving Frank Hardy as this.
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Adaptational Backstory Change: In all of the different book series, Nancy has lived in River Heights her whole life along with Bess and George, while the Hardy Boys are from Bayport how Nancy and the Hardys met varies between series.
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The death of Nancy's mother weighs far more heavily on her than in the books there's more tension and awkwardness than usual between Nancy and her best friends since they haven't seen each other in years and it's stated that the Hardy Boys' parents are divorced, another deviation from the novels.