Consensual (adjective)

1. Based on mutual agreement or consent.
2. Relating to or involving consent or agreement.

Origin:

From latin consensuālis, from consensus ("agreement").

Examples:

1. The couple had a consensual relationship based on mutual respect and trust.
2. The agreement was reached through a consensual process involving all stakeholders.
3. The court ruled that the sexual act was consensual and not a case of sexual assault.
4. The decision was made by consensus, with all members agreeing to the proposal.
5. The policy change was implemented after consensual negotiations between the workers and management.