"It's something we're going toward. I think every day we get a little bit closer to seeing our future together and picturing our future together, so it's exciting to take it day by day," Kendall shared at the time, adding that she'd prefer a vintage, non-traditional engagement ring rather than a diamond.
Kendall and Joe, a Chicago native, took a major step in their relationship in April when they revealed they had moved in together in California.
But their relationship wasn't smooth sailing in the beginning.
Kendall blindsided and dumped Joe during the penultimate episode of Bachelor in Paradise's fifth season last year after he professed how he was falling in love with her.
The taxidermy enthusiast found herself making a stream of excuses on the beach in Mexico as to why their relationship wouldn't work, but Joe called her out for simply being unaware of her feelings for him or not reciprocating them at all.
Joe therefore left Paradise confused and heartbroken, while Kendall clearly felt there was more she could have said and the pair had unfinished business.
"I felt an immediate regret as soon as Joe walked away... I kept running away from the fact that I was falling for him," Kendall admitted to People in September 2018.
"I went into Paradise thinking you need to date, you need to be open-minded, you need to experience people... I also had so much fear about getting hurt... It freaked me out to think I would invest myself in him and then it would break apart after the romantic beach vacation was over."
However, Kendall flew straight to Chicago after the show wrapped to talk to Joe again in-person and apologize, and she expressed to him on-camera, "I am in love with you."
It took some time for Joe to trust Kendall again, but the couple ultimately reconciled and reignited their romance in the real world. Joe, without a doubt, was in love with Kendall as well.
When Joe competed on Season 27 of Dancing with the Stars, he was able to remain close to Kendall considering she already lived in the Los-Angeles area at the time.
The reality dancing competition appeared to bring them closer together.
After Joe toured with Dancing with the Stars in Winter 2019-2020, Joe and Kendall began settling into their life together.
"Our relationship was so public," Kendall told People. "But having a public relationship made us a lot stronger because it forced us to be upfront. It helped us expedite our feelings and move forward."