Eh, it really depends on how developed you both are.
I have an ESFP friend. We get along mostly because we're interested in similar topics, and share hobbies. I met her in kindergarten, and we've stuck together ever since. However, there's an unlikely chance I would befriend her if I had met her only recently.
She's great to be around, but if we've spent an entire day together, I'm usually exhausted and drained of energy the next (unlike with my INFP friend).
I've also met another ESFP, and I liked him quite a lot. Again, the relationship has a better chance of working if you are interested in the same things, just as any other relationship. We had great debates, and he was able to get me out of my shell quite easily.
I really like almost all the ESFP I've ever been around, and that's saying something, because I can't stand most people.
They can drive you nuts at first, but once you realize that their seemingly "irrational" ways of going about things actually take care of things you had overlooked, it's much easier to loosen into the relationship. If it's a healthy relationship, you don't really notice the positives until later on, as a surprise. I don't think many INTJ would give that enough time to work with more hyperactive, zany ESFP, but the more practical, relational, focused ESFP are absolutely awesome - action-oriented, realistic, careful with emotions.