Megan Daley
September 28, 2015 AT 11:36 PM EDT

As Olivia Pope, Scandal’s Kerry Washington has shot some pretty intimate scenes with her costar Tony Goldwyn, and those are the filming moments that feel most like a job to the actress.  

As part of a Sirius XM Town Hall session on Friday, Washington opened up to EW editor Henry Goldblatt about shooting those sexy scenes, saying they are “weird” to film as the two friends and their spouses are also friends. But after working together on the show for so long, the pair have a level of trust established in order to push past any awkwardness.  

“Five years in, Tony [Goldwyn] and I, we have such a mutual respect for each other,” Washington said, “and we’re very clear about our boundaries; what each other’s comfortable with and uncomfortable with. So, there’s also a nice level of trust that you can knock it out and move on.”

But while those intimate scenes with Goldwyn aren’t exactly her favorites, the most challenging scene for the actress had to be the dream sequence between Olivia, Fitz, and Jake (Scott Foley) – and there may have been a little competition going on behind the scenes between Goldwyn and Foley. Check out the video above for the full story. 

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