If no one is hurt or negatively affected, there's no problem.
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If no real damage has been done, there is no reason to complain or punish.
When you say no harm, no foul, you are acknowledging that something went slightly wrong but since nothing bad actually happened, it can be overlooked.
It is used to smooth over minor mistakes or close calls.
"All's Well That Ends Well"
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A good outcome makes a difficult or messy process worthwhile
"No Big Deal"
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Something is unimportant and not worth any significant attention or reaction
"No Harm, No Foul"
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Overlooking a mistake because no actual damage or harm occurred