Rivals with Benefits

Yup, Sonic and Eggman eventually make peace, and stop being enemies. This happened after Frontiers, after a few more incidents of them working together, the two realized they really weren't enemies anymore, and Ivo hadn't committed any of the atrocities his father did, eventually leading to them allowing him to join them. This came in handy during the events of the Phantom Ruby Displacement, where they were sent back in time.

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Art of Human Sonic by Rhael on Twitter