Dick had relationships with several people. In his only court case shown he was arrogant as usual and sucked up to the judge who was Nina his assistant in the other universe. His assistant Nina Campbell, for instance, believed he was human, albeit a very immature one, but it was not just Nina, everyone else believed it as well.
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Nor do I care, Nor do I want to ask or see. Dick even had a near death experience which opened his eyes to the world for a short time. OMG, My buddy's mom is really good with her hands!