as a teen in the 70s. Some of the funniest bits were the interactions between the character Fred Sanford (Redd Foxx) and Aunt Esther (LaWanda Page). How they roasted each other ! [media=https://youtu.be/0ppXVtCoA_E] But unlike the relationship between the characters, Foxx & Page were longtime friends from the days of the "Chitlin Circuit" (a collection of performance venues for black entertainers during Jim Crow).
(Btw, I’m told that "Sanford & Son" was modeled after the British show "Steptoe & Son". The name was chosen from Redd Foxx’ original surname—John Elroy Sanford.)
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In the past, I did a lot of theater -- both college and community theater.
In my experience, the kind of scene in which I felt closest to the other actor was a scene with an argument. Making an argument appear convincing is a cooperative effort. It's like playing tennis with the goal of prolonging the volley. You throw a zinger at the other actor in order to set him up to throw one back at you. And it's great fun.
So if these two were good friends, I bet they had a blast doing these scenes!