But the two hashed out their differences while filming an upcoming episode of Jada's Facebook Watch talk show, "Red Table Talk."
"It was really beautiful and she reached out to me," Smith told PEOPLE. "She was much more bigger than me in that way. It was nice to reconnect and release ourselves from all that nonsense that doesn't matter."
"What was really emotional about it was realizing that there was two broken little girls in us that were abandoned by their fathers and turned into fighters who clashed," she added.
"You have to treat people with kindness because you don't know what they're going through," she continued. "When she told me her story, I had so much more compassion and it reiterated the necessity to just be gentle and kind because we're all f--king devastated."
Remini left the church in 2013 and has become a voice for others who have done the same.
"I know Jada's in. I know Jada's in. She's been in Scientology a long time," Remini said in an interview last year. "I never saw Will there, but I saw Jada at the Celebrity Centre. They opened up a Scientology school, and have since closed it. But Jada, I had seen her at the Scientology Celebrity Centre all the time."
At the same, Jada clapped back on Twitter, saying that while she appreciates some of the church's teachings, she is "not a Scientologist."
"I recently lit Shabbat candles with Rabbi Bentley at Temple Sinai… but I am not Jewish," she tweeted. "I have prayed in mosques all over the world… but I am not a Muslim; I have read the Bhagavad Gita… but I am not a Hindu; I have chanted and meditated in some of the most magnificent temples on earth… but I am not a Buddhist; and I have studied Dianetics, and appreciate the merits of Study Tech… but I am not a Scientologist.”
"I practice human kindness, and I believe that we each have the right to determine what we are and what we are not," she added. "NO ONE ELSE can hold that power."
It's unclear when Remini's episode will air, but new episodes of "Red Table Talk" drop every Monday.