While Madonna put her whole body into each of her performances -- including spot-on vogueing, impressive twerking, and sticking one of her legs all the way out of the window as Corden drove -- the most memorable moment came when she got candid about her relationship with Michael Jackson.
See photos of Madonna through the years:
"What was a night out with Michael Jackson. Or a night in?" Corden asked.
"Oh so you want me to kiss and tell then, don't you?" Madonna replied, sharing that she had "of course" kissed the late King of Pop.
"Tongue in the mouth kissing," Madonna elaborated, adding that she was the one to make the first move because "he was a little bit shy."
"However, he was a willing accomplice," she added. "I did sort of get him to loosen up with a glass of chardonnay. And it worked wonders."
According to the "Like a Virgin" singer, she's never spoken out publically about their make-out session.
"I mean, I may have said it to a friend," Madonna added. "But now you're my friend, so now I've said it to another friend."
While the singer played coy when it came to talking about any more of her other famous or more recent romances, she did open up a bit about what she likes in a man.
"You have to have a sense of humor and understand my sense of humor. Otherwise we are dead in the water," she shared. "I think the best thing in the world is to be married to someone funny."
Madonna went on to say that Corden almost fits the bill for her ideal man, except for his taste in fashion.
See photos of James Corden through the years:
"All that's missing is a good dress sense," Madonna said, shading Corden's red and blue checkered button-down shirt. "I mean, it's very Seattle 1990s."
During their drive, the Late Late Show host reached back to Madonna's iconic song from the musical Evita -- which she seemingly forgot she was even in, for a moment -- and the pair belted out the lyrics to "Don't Cry For Me Argentina," which ended up making Corden a bit emotional.
Ultimately, the acerbic songstress said she had a good time hanging out with Corden, sharing, "This is the only time I haven't minded being stuck in traffic!"
Check out more epic Carpool Karaoke moments in the video below.