Friction and frustration could taint your friendship, if you aren't willing to make adjustments for each other. The competitive energy between you is best used by being active together, although physical energy may be one of the areas in which you're not always aligned. Although you're both comfortable as individuals outside the friendship, this relationship will present challenges to your individuality that will be hard to deal with.
If you want to continue this friendship, the most important thing is to be flexible with each other and not to be overly insistent on doing things your way. The same goes for your friend. Much compromise will be needed if you're to keep getting along.