consensually

WordReference Random House Unabridged Dictionary of American English © 2025

con•sen•su•al  (kən sen′sho̅o̅ əl), adj. 

1. formed or existing merely by consent:
   a consensual transaction.
2. Physiology (of an action) involuntarily correlative with a voluntary action, as the contraction of the iris when the eye is opened.

• Latin consēnsu-, stem of consēnsus consensus + -al¹
• 1745–55

con•sen′su•al•ly, adv.