I have no practical experience yet, but i evaluated the market for a password sharing solution for a team with similar requirements within an enterprise.
It uses a public/private key approach, where the plain passwords never leave the local machine and shared passwords are re-encrypted with each users public key.
Another option in that area is https://www.passbolt.com/
It uses a public/private key approach, where the plain passwords never leave the local machine and shared passwords are re-encrypted with each users public key.