okay so i do think that sam and tucker are probably the ones who came up with the idea for danny to try and fix/enter the portal. and they defiantly feel a lot of guilt about that and have a lot of trauma surrounding the incident. but they both kind of have their own unique ways of dealing with it.
sam serves as a strong moral compass for danny and is seemingly the main one pushing for him to use his powers to help other people. in my mind, sam thinks that if more good is put into the world than bad because of the portal accident, then she no longer has to feel guilty about it, because it's something that needed to happen for the sake of other people. it was a horrific thing that happened to danny, but it was able to help so many people. the positives outweigh the negatives. the portal accident doesn't have to be her indirectly causing and witnessing the death of her friend. it can be a superhero origin story. they can all look back at it fondly as the beginning of the good work they've done.
(not to say this is the only reason sam pushes danny to do good things ofc but it contributes)
tucker takes a slightly different approach. he easily slots himself into the "supportive best friend" role in the superhero story. he feels like if he can help danny adjust to his new powers and life, then he can make up for the portal accident. he can fix the damage he's done. danny will never look at him and think "this is the guy who led me to my death." he'll think "this is the person who supported me through the most difficult time in my life." so he uses his superhero knowledge to help danny start fighting ghosts and covers for him when he needs to ditch class and helps him when he's constantly phasing through objects and losing control of his powers because as long as he's there for him then he can be redeemed.
(once again, not the only reason why tucker is helpful to danny. but it contributes)
so basically we've got:
sam: if danny's death is an overall positive for the world, i can forgive myself
tucker: if i can do enough good things for danny i can make up for the one really bad thing i did to danny
danny: nothing happened
