I think we, as a Phandom, should stop taking for granted the fact that Sam and Tucker are actually great friends simply because it's such an integral part of their characters the show doesn't go out of its way to point it out through some big gesture. But it's there. From the very first episode, it's always been there.
I say this because some time ago I saw a post about how OP preferred Danny and Valerie over Danny and Sam (totally valid, don't get me wrong. It's not my case, but I'm not here to start shipping discourse). And the main reason they gave was because of Valerie's one selfless action of letting Danny go for his own sake, while they found Sam to be stubborn and selfish. Honestly, I was baffled.
Credit where credit's due, that is a wonderful character moment for Valerie and a sign of character development. But it also happens to be the one (1) instance she does something genuinely selfless completely unprompted—I don't count her saving Dani because she only did the right thing after Danny spelled it out for her that she was harmless and half-human. The rest of the time, since she was conceived as another antagonist, Valerie's characterised as someone selfish, vindictive, and materialistic.
Meanwhile, it's the fact that Sam and Tucker are so such great and loyal friends to Danny that underlies the fact that, personal flaws aside, those two are inherently good and selfless kids. From the very beginning of the show til the very end, they constantly and consistently help Danny in any way they can both with the mundane and supernatural, even if it means risking their lives. Which they very much do on a daily basis.
1) Sam kissed Dash to break Ember's spell on Danny.
2) Sam agreed to wear that hideous frilly dress so her parents would lift their restraining order off of Danny.
3) She confronted Freak Show and a mind controlled Danny to set him free and fell off a moving train over a bridge for her troubles.
4) Although it took him a bit for comedic value, Tucker faced his fear of hospitals to rescue Danny.
5) They both took turns pretending to be him so his parents wouldn't find out his secret.
6) They are always there to help him during ghost fights, even though they don't have his powers or as much ghost hunting equipment as Valerie.
I'm just saying we have this tendency to overlook just how loyal, caring, and protective they are of Danny simply because the show usually frames it in a much more understated manner. But the truth of the matter is that Sam and Tucker were written as and proven to be fantastic friends. And I think we should really give them their flowers.