Consensus ad idem
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The JC’s guide to pithy Latin adages
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A “meeting of minds”; also a splendid and unnecessary Latinism, for you might also describe this as an “agreement” sufficiently clear — if accompanied by at least a peppercorn of consideration — to be binding on the parties.
Just the sort of arrangement you might arrive at with your dry cleaner if, say, you had soiled your flannelette suit.