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Although the Brazilian race-car driver -- who won DWTS with partner Julianne Hough in 2007 -- and Henao have not made plans to wed, he said marriage is "the natural next step."
Most recently, Castroneves made headlines after he was indicted for federal tax evasion and fraud after allegedly failing to pay more than $5 million to the IRS over a four-year period. He was cleared of those charges in April.
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