The former couple cheered on their 7-year-old daughter Sam at a soccer game, spending "quality time" with their other daughter Lola, as well as Richards' 3-month old daughter Eloise.
The two punctuated their soccer field reunion with a pair of sunny tweets.
"Just got back from Sami's soccer game," Richards tweeted. "She did great... Happy to see Charlie Sheen cheer her on. Proud parents!"
Sheen replied to Richards' tweet, "Nothing better!"
Though it's definitely a bit jarring to see the two interacting so amiably, it shouldn't come as such a surprise, as back in July Richards told Us Weekly that she and Sheen "talk every day" and that he was "supportive" of her decision to adopt Eloise.
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