Help. Kinda old manga.

1.Double protagonists (male and female)
2. They got bound together with a chain
3. They're on adventure/journey to break the chain.
4. Fantasy setting?
5. Their skin needs to be touch so their companion other companion just told them to go naked with only their private parts covered with leaves lol
6. But their outfits end up with the girl wearing sleeveless dress with shorts
7. I think they have blue hair? (I'm not sure about this tho)
8. Btw, I'm not really sure but they don't really know each other at first. (Can't remember)