So this is set after Civil War but Tony doesn't go on a rampage when he finds that Bucky killed his parents and they all manage to defeat Zumo or however his name is spelled. Tony covers for them and helps them escape to Wakanda and this is placed before Bucky gets iced again.
Bucky woke up, silently screaming and thrashing in his bed as the nightmares still danced around him and tormented him. He knew better than to scream. If he did, Hydra would punish him for 'showing weakness' and 'human emotions'. It took him a couple of minutes to realize that there was no Hydra anymore. Or rather he wasn't with Hydra anymore. The terrors of the dream plagued his mind with Steve's lifeless eyes staring straight into his soul. Fumbling with the blanket, he tore it off and he stood, every body part shaking from fear and adrenaline as he stumbled his way to the door. It took him a couple of times to actually grab the doorknob before he jerked it open. The hallway seemed to extend on forever as Bucky continued forward, attempting to breathe deeper and calm himself down. He kept repeating in his head the 'Steve's not dead. It was just a dream he's still alive. Steve's not dead.' He finally reached Steve's door and slammed it open. Steve awoke with a jerk and already had his shield in front of him before he realized that it was Bucky at his door rather than an intruder.
"Geez Bucky don't scare-What's wrong?" Steve cut himself off after he puts his shield down and realized that Bucky is violently shaking.
"You're alive." Bucky states as he feels relief course through his body with the knowledge that he'd had a nightmare and he didn't actually kill Steve. His knee's failed him after that and he fell to the found, feeling elated that his best friend was still breathing and unharmed.
"Bucky!" Steve cried in alarm as he rushed out of bed to his friend, "Are you alright?"
"Yes. Yes I am absolutely alright. Fantastic even. You're alright. You're okay. You're not dead. I didn't kill you. You're alive. Hydra can't control me anymore. There's no chair. No punishments. No memory wipes. No cyro. No more Hydra telling me what to do. I'm safe. I'm safe, right? I'm safe?" Bucky rambled before turning towards Steve, his eyes begging him to tell him he's safe. Steve realized that Bucky must have had a horrible nightmare since he was acting vulnerable and looked terrified.
"Yes Bucky. You're safe here. Hydra wouldn't dare to attack you here. It was just a nasty dream. It wasn't real." Steve put his arm around Bucky to try and ground him.
"Right. Safe. I'm safe." Bucky repeated. When Bucky seemed to get his breathing under control, Steve guided him up and set him on his couch. Then he sat down next to him, grabbed a blanket from the other end of the couch, wrapped it around both of them, and placed his arm back around Bucky's shoulder. Bucky was able to relax against his friend, Steve's heartbeat resounding in Bucky's ears, and fell asleep to him murmuring that he was safe and no one was going to hurt him here.