consensual
adjective
con·sen·su·al
kən-ˈsen(t)-sh(ə-)wəl
-shəl,
-shü-əl
1
: existing or made by mutual consent without an act of writing
a consensual contract
2
: involving or based on mutual consent
consensual acts
consensually
adverb
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Merriam-Webster unabridged
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