Willingly

adv.kind, energeticwarm

What it means

Readily and by free choice.

Reach for it when describing action taken without coercion or grudging resistance

Neighbors willingly shared tools with the rebuilding crew.

everyday
freely
when absence of restraint or payment is the point
not when Freely has several meanings and may need context to establish consent.
everyday
readily
when prompt ease of agreement is visible
not when Readily may describe speed even when consent was constrained.
warm
eagerly
when strong anticipation drives the action
not when Eagerly is much more intense than simple willingness.
warm
gladly
when pleasure in helping or accepting is genuine
not when Gladly is more cheerful and overstates consent given without delight.
professional
voluntarily
when freedom from requirement must be explicit
not when Voluntarily is neutral and may not convey the positive readiness of willingly.
formal
of one's own accord
when personal initiative rather than a request matters
not when The phrase is heavier than needed for ordinary cooperative action.
formal
ungrudgingly
when generosity without resentment deserves emphasis
not when This word focuses on attitude and does not prove freedom from pressure.

willingly agreed
The owners willingly agreed to preserve the public footpath.
willingly shared
The two teams willingly shared their failed prototypes.
willingly accepted
She willingly accepted the correction after checking the source.

A person can act willingly within constrained choices; name material pressure when it affects consent.

The definition and the example on this page are written here. The dictionaries above ground which meaning is being described, not the wording.