Will Smith and Jada Pinkett Smith—who quietly separated in 2016—stepped out for dinner in Calabasas Nov. 7, marking the estranged couple’s first joint public appearance in over five months.

Will Smith shares son Jaden and daughter Willow with Jada Pinkett Smith, as well as son Trey from his first marriage to Sheree Zampino. Will Smith and Martin Lawrence chat with ET at the premiere ...