"I guess I can dream a little bit. My free pass is — because her and [my wife] Susan are such good friends — is Paltrow. I gotta get her back in these movies so I can make out with her onscreen again," the Captain America: Civil War actor, 51, said during the SiriusXM broadcast.
He added of Susan: "She could care less."
Even so, the actor admitted that there's a catch: He and Paltrow could only kiss if they were "rolling on a take."
Downey and Paltrow, who is currently dating producer Brad Falchuk, played a couple in the first three Iron Man movies. Paltrow doesn't appear in the newest Marvel Universe flick, Captain America: Civil War, but that doesn't mean Pepper is gone for good.
"She's coming back," Downey said. "We need her."
The Sherlock Holmes star and Susan married in August 2005 and are parents of son Exton, 4, and daughter Avri, 18 months. (Downey also is dad of 22-year-old Indio from a previous marriage to Deborah Falconer.) "I'm very happily married," Downey told Stern, noting that he doesn't try to find out what his ex-girlfriends are up to now.
One of those ex-girlfriends is Sarah Jessica Parker. The two dated for seven years before splitting in 1991. On Wednesday, Stern revealed that the Sex and the City alum left the SirusXM building right before Downey arrived.
Downey replied: "I would have loved to have seen her!"
Last year, Downey told Stern that he reunited with Parker in NYC and revealed how much the actress was there for him through his past struggles with addiction. "I liked to drink, and I had a drug problem, and that didn't jibe with Sarah Jessica, because it is the furthest thing from what she is. She provided me a home and understanding. She tried to help me. She was so miffed when I didn't get my act together," he told Stern at the time. "Private stuff aside, we were able to spend some time together, and it was really cool."
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