It is awkward and Taiki doesn't really know how to navigate it. He knows Inigo feels bad and he doesn't want him to feel bad but all his usual strategies for cheering Inigo up involve touching him, which will probably make things worse.

So he focuses on building the fire up and putting the soup on, stirring it with intensity.

"Would you like tea as well? I think we have some. Or um..."

If he can't hug him then he will feed him.