Sango has notably lightened up about her bottom being touched by Miroku. Miroku likewise doesn't grope her anymore. In their embrace at the beginning, his hand is only touching not moving.
Miroku is shown to be very devoted to Sango by this point; being completely uncomfortable around Shima and her parents as they are desperate. Since their engagement, he's never looked at another woman with lecherous intention. In fact, hes downright TERRIFIED of Sango harming him for his past behavior around women.