For a moment or two Madoka's cheeks are still pink. But thankfully the flustered feeling then slowly starts to fade as they (or, well, mostly Gladio) keep walking. If not just since she's distracted from her own embarrassment by that tune he's humming.

He does seem very happy...

".. Mister Gladio, you really must've had a fun time with uncle Noct." Considering it's apparently left him so happy, despite the rough start it sounded like they had at the beginning of the mission.