The shame that Tony sensed was in Steve's breakup with Liberty, but maybe that was wishful thinking. Probably. It wasn't like he was ever much good at reading people, even when they were open with him and did things like make eye contact.
"We probably have at least twenty minutes before the news of me sweeping you off your feet reaches the ears of those on high," was his answer. On a really annoying day, that included travel time, but they were probably good. It wasn't a very prolonged encounter on the ground. As they reached the Mansion, Iron Man carefully pulled Steve against his hip, so that when he touched down Steve could walk the momentum with him along the garden path between the high, brick walls and the sprawling back patio. Maybe the muscle memory would trigger some friendly courtesy.