Has Picard ever developed a meaningful, static relationship -- either romantic or friendship – of any kind with any member of the crew?
I know that he and Guinan have a past which is probably more spiritual than friendship or romance, so that probably counts. However, I think they really only touch on that during the Best of Both Worlds where she was consoling Riker by telling him that, if she can let Picard go, so can he. I don't recall much other depth into their relationship other than that.
Then there was Vash, but she's an in-and-out character in the series and doesn't really count because she's never around long enough to convey any meaningfulness of their past.
He and Wesley got kinda chummy when they were stranded on that planet with the dude who was quenching his thirst with alcohol, but that was fleeting. I am sure he went right back to hating Wesley again afterward.
The Naked Now doesn't count when he was getting all flirty with Crusher the inhibitions of everyone on the crew were all lowered.
Lastly, the time that Picard and Riker were engaging in anal sex in Ten Forward after hours also doesn't count since they pretended it never happend after the fact and that happened in the second season.
Overall, Picard doesn't seem to really develop much of a relationship with anyone. It wasn't until the very last episode that he finally joined the crew for poker in spite of being invited several times over the span of the series.