Jenna Elfman‘s return to comedy on ABC’s Shifting Gears came with several highlights — including the opportunity to work with onscreen love interest Tim Allen.

“I love doing scenes with Tim. I got very excited and it took me a couple episodes to go, ‘OK, who are we in this? Who are you? How is he playing within this format? How is his timing?’ It takes a moment to see how we’re dancing together as partners,” Elfman, 53, exclusively told Us Weekly ahead of her debut on the Wednesday, February 26, episode of the hit sitcom.

Elfman specifically praised Allen’s ability to support her as his scene partner, adding, “He’s so confident as a comedic actor. He’s just confident and I’m confident and we don’t care if something [doesn’t land]. When you’ve been doing it long enough, you’re not paranoid about a joke not working and you don’t care. There’s no preciousness and there’s enough confidence to support the exploration of the scene of humor.”

The actress also enjoyed getting to push her performance.

“I really appreciate that, because you have two confident people playing and it feels really good. The other thing I really appreciate from Tim is he grants me total freedom to occupy the space with whatever I’m bringing,” she noted. “I don’t feel like he’s sitting there judging. I don’t feel like he’s sitting there evaluating my comedy or my ability to do a joke.”

Elfman continued: “I just feel like he has faith in my ability and everyone around him. I’m allowed to be myself in the space in front of him. That kind of trust when you’re doing comedy is really great.”

During the next episode of Shifting Gears, Elfman is introduced as spirited choreographer Eve Drake, who owns a dance studio across from the classic car restoration shop run by Allen’s character, Matt. The synopsis teases how “the feud between Parker Customs and Premiere Dance Lab heats up when Matt confronts the owner over a picnic table placed in the shared alleyway.”

“You’re going to see more of the dynamic between Matt and Eve,” Elfman teased to Us about her recurring role. “Just more forthright communication, opinions and exchange. You get to see people being their full selves in each other’s face. It’s really fun.”

Elfman’s comedy skills aren’t a surprise for those of Us who tuned into her hit sitcom Dharma & Greg, which scored her a Golden Globe and three Emmy nominations. Shifting Gears offered Elfman the opportunity to return to the comedy space alongside showrunner Michelle Nader.

“I’ve worked with Tim before on a film so I know he’s lovely. He’s so good at what he does. It’s like you don’t even see it happening and then all of a sudden it’s just brilliant. But Michelle Nader and I had a phone conversation and she was walking me through what her plan is in terms of the sitcom and making it feel fresh, which is so hard,” she recalled. “We all love a good sitcom, but it has felt hard to do in terms of streaming and social media and the great sitcoms were before all of that.”

Elfman went on to explain that she immediately knew Shifting Gears was something special, adding, “I really love the format. So I’ve been interested in doing one but I didn’t feel hopeful that it could be done well or fresh or new. So Michelle — and the rest of the cast and crew — are just kicking ass. It’s so good. She just wanted to have a fresh take on what a strong woman looks like. Everything she said resonated with me. It felt like home for me.”

She continued: “I loved her take on how to approach the family at the center of the series and the generational divides culturally, politically and emotionally. It’s a sitcom but it’s grounded with talent, who knows how to act and who knows how to deliver comedy. At the same time, the writing really supports that as well. Everything felt right for me to come play and I’m so glad I did because I had a very good time. We just finished filming the final episode last night and it’s so good.”

Shifting Gears airs on ABC Wednesdays at 8 p.m. ET before streaming the next day on Hulu.