“Forever?” No. Forever by its terms is an unending stretch of time. People, on the other hand are beings with a finite life span. So, no, two people cannot stay together forever.
Now, if the question is whether two people can stay together for a lifetime, I’d say yes, although it is very rare. Assuming, of course, that “stay together” refers to a romantic relationship.
Ehhh…there’s too much of an analytical thing going on inside my head today. I’ll stop now.
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