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Gisele Bündchen, Joaquim Valente Pack on PDA During Miami Boat Day

It's clearly been nothing but smooth sailing for Gisele Bündchen and Joaquim Valente since having their first baby ... check out photos of the two from their recent boat day in Florida -- they can't keep their hands off each other!

The hot couple hit the waters in Miami over the weekend ... and the vessel's engine wasn't the only thing producing some steam.

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The Image Direct

Take a look, Gisele -- who was stunning in a black one-piece -- planted a few kisses on her shirtless man .