The 42-year-old Colombian actress and the 37-year-old actor were also seen wrapping their arms around each other during another outing together.
Sofia‘s Modern Family co-star Sarah Hyland recently shared her opinion of Joe and Sofia as a couple.
“I think they’re super hot together,” Sarah told People. “I love him individually. Him and Sofia together – I’m all for it. They’ll have really hot babies. I give my stamp of approval on Joe.”