It wouldn't be normal if the two of them weren't worried about the other in some capacity. Bucky had been worrying about Steve since they were in elementary school. It wasn't like that would just stop now. Just like he knew Steve wouldn't stop worrying about him no matter how often he assured him he was fine. Even in happiness, worry was always going to linger. It was just what you did when you loved someone in any capacity.
But they could be okay. Bucky felt like they were in a place where they could see each other and actually stop to talk, or walk together instead of apart. It wouldn't be right to keep up the distance between them. As soon as he felt the familiar weight of Steve's hand on his shoulder, Bucky felt like the weight of their rift had lifted. "It's not the end of the line," he said, and smiled a little. "Not even close." He reached up with his other arm and wrapped it around Steve's shoulders so he could hug his best friend.
One day he might feel ready to ask Steve more about Tony, because he wanted to be supportive. If Stark was important to Steve, then in turn he kind of had to be important to Bucky by default. There was a list of issues a mile long between him and Stark, but since Steve loved him it kind of propelled Bucky into wanting to maybe sort them out. Maybe. If he was going to be the best friend he could be to Steve, then he needed to at least be able to be in the same vicinity as his significant other and not feel so ... well, bad.
Slowly, he drew back from Steve and let his hand drop. "We should go have a drink at Pancho's soon. Shoot the shit a little. I gotta learn more about Stark if you're gonna be running around with him, right?"