Complex sentence: Sucre had planned to go straight to Maricruz after escaping, whilst travelling in the van away from Fox River Sucre underlignes this desire, saying that "I just want to touch her belly".
Split into simpler sentences: Sucre had planned to go straight to Maricruz after escaping. Whilst travelling in the van away from Fox River, Sucre underlignes this desire saying that "I just want to touch her belly".