Charlie Sheen's Exes Denise Richards and Brooke Mueller Spotted Filming TV Show with Family in Malibu

It looks like Denise Richards and Brooke Mueller are going to have more things in common than their ex-husband.

On Sunday, July 28, Richards and Mueller were seen in Malibu enjoying a meal together with their families — including three of Sheen's kids, Lola, 19, and Sami, 20, who he shares with Richards and Max, 15, who he shares with Mueller — as they appeared to be filming for a TV show.

In photos obtained by Page Six, Richards, 53, and Mueller, 46, were spotted having a one-on-one conversation at a picnic table as a cameraman sat on the opposite side, filming the interaction. In other photos, filming occurred as Richards and her daughters and Mueller and her son greeted each other and prepared plates for a meal together.

Richards' husband, Aaron Phyphers, was also in attendance, according to the outlet.

Filming was likely underway as part of Richards' latest reality TV endeavor, her new E! docuseries, Denise Richards and the Wild Things.

The actress signed the deal for the series – which is seemingly a nod to her 1998 movie Wild Things – and the news was announced on June 10. In a statement, she said she and her family "are thrilled" to return to the world of reality TV.

"Sami and Lola were just 3 and 4 years old when we first shared our story and now we've come full circle," she said, referring to her previous reality series, Denise Richards: It's Complicated, which documented her life after her 2006 divorce from Sheen.

"This is the perfect partnership for our family's series as our lives are full of fun, love and unpredictability, and we can't wait for the audience to share this adventure with us."

The new reality series is set for a 2025 release.

If Mueller and Richards' family reunion is featured in the series, it will likely include several mentions of Sheen, 58, who they share as an ex-husband. Mueller was married to the actor after the Real Housewives of Beverly Hills star, from 2008 to 2011, but they all continue to co-parent their shared children together.

Earlier this year, Sheen told PEOPLE that Mueller is "trying to figure some stuff out on her end" as she continues to struggle with her sobriety. He has been sober for six years.

"The boys are proud of me now," he said, referring to his youngest kids, 15-year-old twins Max and Bob, who he shares with Mueller. "They see what mom goes through and I'm not dumping on mom because I know it's a thing."

"But I think they're super grateful that they have a Dad that is present, accounted for, responsible, focused, punctual," he added.

Sheen and Mueller share joint legal and physical custody of the twins, but in January, he was granted an emergency order that affirmed that should Mueller test positive for drugs and alcohol or otherwise relapse, he will be granted sole custody.

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As for his dynamic with Richards, the Two and a Half Men alum told PEOPLE last year that they're "super friendly" and "able to process so much of it through humor" nowadays.

"We went through so much s--- together that I don't think either one of us has any energy left to be divisive. The only thing that matters is the kids."