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The leaders spoke for over two hours, including a one-to-one discussion during a walk in the grounds of Thornton Manor in north-west England.
Mr Varadkar said Thursday's "positive" meeting was "sufficient to allow negotiations to resume in Brussels". [...]
After the meeting, Mr Varadkar told reporters the talks were at a "very sensitive stage" but were "very positive and very promising".
He said he was now "convinced" the UK wants an agreement, saying: "I do see a pathway towards an agreement in the coming weeks."
However, issues remain over "consent and democracy" and ensuring there is no customs border, Mr Varadkar said.
The Brexit proposals from Mr Johnson include a provision for the consent of Northern Ireland's politicians to be sought every four years - meaning the arrangement could, in theory, continue indefinitely.
"It remains our position that there can't be a hard border between north and south," Mr Varadkar added. [...]
Related assessment on Financial Times: Light at the end of the Brexit tunnel