Watch FULL EPISODE in HD Quality : br br br Air Date : June 20th, 2016 br Season Number : 4 br Episode Number : 16 br Episode Name : The Long Haul br Networks : ABC Family, Freeform br Genres : Drama br br Storyline: br Sharon and Will return to the Adams Foster home with news that they are engaged. In an effort to come clean with Jesus, Emma writes him a letter but learns he is hiding a secret of his own. Meanwhile, Jude is teased at school when Lena organizes an LGBTQ-friendly sex ed class for students. br br Casts: br Sherri Saum, Teri Polo, Noah Centineo, David Lambert, Danny Nucci, Cierra Ramirez, Maia Mitchell, Hayden Byerly.