 Friedman employs the related idea of reflective endorsement: a process of critical reflection can result in either endorsement and wholehearted commitment to one’s preferences and desires, to wholehearted repudiation of the preferences or desires, or to half-hearted commitment to the preferences or desires (Friedman 2003, 4–5). Friedman says that “when an agent chooses or acts in accord with wants or desires that she has self-reflectively endorsed, then she is autonomous” (Friedman 2003, 5). Agents acting on desires that satisfy this condition are acting authentically and on their deepest commitments.