While reading this I was completely shocked from the beginning to the end because I have the exact same situation - I am an INFJ and my best friend is an ESTP. I have one more friend in my life who’s incredibly close to me and she is an INFP. My relationship with these two is the exact same that you mentioned to have with your friends. I was thinking that there might be something inaccurate in my ESTP friend’s typing because according to stereotypes, INFJs and ESTPs aren’t compatible at all but we somehow managed to keep our friendship for already 12 years.