Yes there was incest after Adam and Eve but as far as I know, it was not God's intention or an endorsement by God of incest.
You see, Adam and Eve orginally were never meant to be reproducing new humans via sexual relations. At least not until such time as God would have told them he wanted them to. Whether God would have done that or not, I do not know.
When they committed original sin and had sexual relations against God's will, that is when corruption and evil came into the world and made way for things like incest.
Before that, incest was not necessary, nor were sexual relations of any kind.
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