They learned to trust and rely on each other.
Meaning: This means they developed a strong sense of trust and reliance in their friendship.
Choice of Words: Learned means gained knowledge or skill through experience or education. Trust means to have confidence in someone or something. Rely means to depend on someone or something. Each other means both ways. When you put them together, "learned to trust and rely on each other" means they came to believe in and depend on each other.
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Related Expressions