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He sported a black Nike top, a baseball cap and grey shorts as the couple enjoyed a light stroll together.
Vanessa appeared tired as she let out a yawn and looked down at the pavement while conversing with Rory.
Together: The pro skater, 24, exited the quarantine location in Buckinghamshire on Tuesday after a 10 day period amid claims she and Joe-Warren could return to the show if they now get negative tests
Keep it casual: Vanessa kept a low profile in a bomber jacket and hoodie for her outing with her personal trainer beau
It comes after the Dancing On Ice star shared her joy at being out of quarantine on social media, uploading a selfie taken with Joe-Warren before they sped away from the hotel.
They were recently embroiled in a fix row after it was claimed he had previously had skating lessons before appearing on the show.
But Joe-Warren Plant and his professional skating partner Vanessa Bauer appeared unfazed by the reports, as they beamed while leaving training at Blackpool Pleasure Beach Ice arena on Tuesday.
The Emmerdale star, 18, kept things casual as he donned a black jacket over a loose-fitting white hoodie while he walked alongside the skater, 24.
Busy schedule: Dancing On Ice stars Joe-Warren Plant and Vanessa Bauer appeared to be in good spirits as they headed home after training in Blackpool on Tuesday amid fix row