Taxi ended 43 years ago, but the friendships forged on set are forever. On Monday, March 10, Danny DeVito was honored with the Jason Robards Award for Excellence in Theatre at Roundabout Theatre Company’s gala at New York City’s Ziegfeld Ballroom. He was joined at the event by his Taxi costars Christopher Lloyd, Carol Kane, Tony Danza, Marilu Henner and Judd Hirsch, as well as the series creator James L. Brooks. The group all posed together on the red carpet, and DeVito’s former costars also paid tribute to him during the event. Saturday Night Live alumna Rachel Dratch documented the reunion on Instagram. She wrote, “Fun to witness the reunion of the cast of #Taxi last night at the @roundaboutnyc gala event! Missing from this pic, honoree of the night @dannydevito ! Pictured are some of the friendliest celebs I ever did meet- @tonydanza @mrchristopherlloyd #juddhirsch #carolkane (And of course, @therealmarilu remembered exactly how long it’s been to the day since Taxi’s last episode!)” Taxi ran from September 1978 to May 1982. Hirsch, 89, played Alex Reiger, the show’s protagonist. Danza, 73, played Tony Banta. Lloyd, 86, originally joined the cast as a guest star, but his character Reverend Jim Ignatowski became a regular. Henner, 72, portrayed Elaine Nardo, and Kane, 72, played Simka Dahblitz-Gravas. DeVito’s character was Louie De Palma, the dispatcher and supervisor of the cab drivers. The main squad was rounded out by Jeff Conaway, who died in 2011, and Andy Kaufman, who died in 1984. DeVito’s wife Rhea Perlman also had a recurring role on the series as Zena Sherman, his onscreen love interest. Taxi was a critical and commercial success. It was nominated for 34 Emmy Awards, winning 18, including three wins for outstanding comedy series. DeVito won once, with four nominations. At the March 10 event, DeVito was honored for his contributions to the theater. The actor worked extensively Off-Broadway in the 1970s, including in a stage production of One Flew Over the Cuckoo's Nest; he later appeared in the film version as well. He’s appeared on Broadway twice, in 2017’s The Price and 2023’s I Need That, which was produced by Roundabout. Never miss a story — sign up for PEOPLE's free daily newsletter to stay up-to-date on the best of what PEOPLE has to offer​​, from celebrity news to compelling human interest stories. The Taxi cast has often been spotted attending each other’s events; Kane, Hirsch and Danza attended Henner’s Off-Broadway show The Journals of Adam and Eve last July. Kane told PEOPLE in August that she doesn’t consider their get-togethers "reunions" because they see each other a lot. “The fact is that we have kept each other's company in a close and loving way for all these years since Taxi,” she explained. “During COVID, we were even luckier because Zoom became this thing so that no matter where we were in the world, we could have and did have regular Zoom meetings.” “Tony lives very near to me, so we hang out a lot,” Kane said. “And for a while I seduced Chris Lloyd and his wife Lisa into getting an apartment in my very own building, so I got to see them all the time.”