While it's not clear they shared anything more than an embrace, in 2010, a young female cosmonaut who apparently speaks no English spends the aerobraking maneuver cuddling in fear with Dr. Floyd.
In fact the novel quite explicitly states that nothing else happens between them. It also says that she came to Floyd because of the language barrier- she would have been to embarassed to do the same with someone who spoke her language.
Galaxy Quest's Fred Kwan/Tech Sergeant Chen (played by Tony Shalhoub) and the female Thermian fall deeply in love (apparently she was a fan.) She was the only crewmember aboard the Protector who lacked a Universal Translator, and therefore "spoke" only in brain-piercing, ear-shattering wails and chitters. Not even seeing her real form deterred him, but maybe there's something to be said about those prehensile appendages Thermians have.
Not quite...Leilari (the Thermian) was only missing her translator when they initially went to pick up Jason. By the time Fred meets her, she has a working one. She speaks to Fred (and the rest of the crew) quite coherently just before they're all taken to the ship, and although it's a hologram of her talking, it's very likely a live feed.
Pulling from the article.
Examples Are Not Arguable. Repair Dont Respond.