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My new headcannon is that before Merlin became Arthurs man servant he used to brush his own hair, dress himself, and wash himself in the bath. But Merlin, not knowing any better, assumed that was his job, so he did those things. Then you have Arthur who, as a prince, everyone holds themselves apart from him. Then along comes Merlin giving him the contact that he craves. Arthur refuses to tell him otherwise, because he doesn't want to lose the intimacy of Merlins touch so freely given.
Merlin discovers these tasks aren't part of his duties after a casual conversation with Gwen shortly after arriving, but does not say a word.
After they are in a relationship, and another servant has taken his place so that he can attend to his court sourcerer duties, Merlin continues to brush Arthurs hair, and tie his tunics. Sometimes saving Arthur doesn't involve a sword or magic.