This reminds me of the term "compersion", used by the polyamorous community to describe the feeling of joy from watching a loved partner fall in love or lust with another partner. Antonym: jealousy.

I have something slightly different thing in mind: a balancing act between your ideas/needs and others.. and a joy in negotiation. With freedom to evolve or quit the game. No obligations. Basically kid's play. I think it's a saner form of interactions. Lighter, deeper, more vibrant (well, in theory).