My best friend since age seven is an ESTJ. I've always loved the differences in our personalities; we truly have that yin/yang sort of thing. I think it just took a lot of time and understanding for each of us to learn what to do and not to do around each other.
For example, the same way that I am really emotional, she can have really strong opinions. Whereas I sometimes like to keep my opinions open-ended and discuss them with people I trust, she really doesn't like that. She just likes to say what she thinks and have that be it. Otherwise, she can get really fired up when people disagree with her. I've learned that it's better to just listen to her rant or rave whenever she has a particularly strong opinion about something the same way she's learned to listen patiently to my emotional problems. I realize that she is as passionate about her opinions as I am about my emotions and values.
She sometimes gets annoying because, as someone else mentioned, she will tell me what I "should do" even when it's obvious. I usually laugh it off because I find it a little funny. I try to keep it in mind that she is honestly under the impression she is helping; it's never just to be annoying. Plus, I'm sure a lot of things I do annoy her, as well.
We are very different people, of course, and have both learned to accept that, but I also think it's just a matter of digging for a way to connect with each other. With my friend, it helps if we just find common interests and go from there. Music, television, hobbies, whatever. We actually became friends because we both really liked the same music group, and it worked because we complemented each other's personalities so well.
Oh, it also helps if the ESTJ you're working with is not a total jerk. Some of them do suck, but there are people of all personality types who suck, regardless of type. Beyond that, I don't know how well any of this well help. It all depends on how accepting both of you are of each other in a situation like this.