Curate, connect, and discover
Me? Posting to the wrong blog? I would never. You saw nothing.
I can totally imagine Zelda giving Link the slip every time they go to Rito Village to vent about how utterly infuriatingly arrogant and insufferable her new chosen shadow is. So obviously Revali hates Link to begin with and his jealousy is only an extension of that. Because who is this random Hylian kid to treat Zelda like that and how is he worthy of wielding the Master Sword when Revali isn't?
Then imagine Revali's regret when it's a hundred years later and suddenly he gets to observe Link from Vah Medoh and whenever he uses Gale. Link was never actually dismissive of Zelda and he never thought he was any better than Revali or anyone else for that matter. Only in death does Revali realize that Link was silent because he was under so much pressure from literally everyone he met and Revali used to antagonize him for it.
Revali realizes that this is the real Link, the one using Revali's Gale to explore and experience the life that he never got to have for himself before he died. The silent knight from before the Calamity was a survival mechanism that people like Revali forced him to use when they told him he wasn't good enough or that he wasn't worthy. Link and Revali have a chance to start over when they both die but Revali is honestly so happy for Link when he also gets a second chance at life.
I headcanon that the ghosts of the Champions finally moved on after the Calamity was defeated so obviously there's potential for a lot of angst there but I'd like to think that Revali gets to leave Hyrule for the last time satisfied that he's made amends. Link will slowly remember more and more of the hostile and jealous Revali of the past but it's okay. He chooses to remember the person he met after waking up a hundred years in the future and Revali's memory lives on as a tragic but hopeful tale.
Personally I think Revali would be physically affectionate with Zelda. Seeing as he's a commoner (at least not nobility), he didn't grow up around the environment of "untouchable royals." so he's just throwing a wing around her shoulder or leaning in her. (one time he shoved her playfully and she about squealed with delight.) With Zelda, I think she'd appreciate a friend who wouldn't be afraid to be close to her or speak honestly with her. I think she'd find his attitude refreshing and he would likewise finding her interesting and accepting for his idea of how nobility acts. They just give me a very loving platonic relationship vibe