Really wish Kiryu and Majima could have a normal talk over drinks one of these days, but, at this point, I'm beginning to very much doubt it will ever happen.
@yonchire
Now that I think about it, they *kinda* did in the Majima Construction story, but they had other people with them, so I'd say it doesn't really count :<
@MangBloodrage
The closest I can think of was in K1 when Majima pretends to be a bartender- they do chat normally for a little bit as he serves Kiryu a few different drinks. Then he massively overcharges Kiryu as an excuse for a brawl.