Douglas and Martin in Cabin Pressure develop this kind of relationship - at the start the insults are rather one-sided from Douglas to Martin, but as the series goes on Martin gains confidence and starts to hold his own - and they have been shown to genuinely care about each other despite it all multiple times.
Carolyn also has this relationship with the entirety of the MJN crew, including her son, as well as with Herc, her boyfriend (but don't let her hear you call him that)
McGee and Throckmorton P. Gildersleeve are like this earlier in the series.
As are Gildy and Judge Hooker on The Great Gildersleeve.
The Jack Benny Program was based on this. Particularly with Phil Harris and to a lesser degree, Mary Livingstone. Jack's whole show was other people taking pot shots at him.
Jack Benny became this with Fred Allen, in an attempt to boost Fred's popularity. It worked very well.
Frosty Stilwell and Frank Kramer of the Frosty, Heidi, and Frank show have been friends for over 20 years. Not that you'd know it from the way they talk to each other. They've been friends with their co-host Heidi Hamilton for half that time, and are just as snarky with her. But she's far from being the show's Butt Monkey, and gives as good as she gets.
Hank Murray: Boy, you two were made for each other!
Eugene Meltsner: We're just friends, actually.
Connie Kendall: Barely.
Its worth noting that Hank Murry was in the middle of trying to rob Whit's End at the time, possibly making this Everyone Can See It.
Ed Reardon and Jaz Milvane of Ed Reardon's Week. Milvane's fame as a film director really took off when he made a film out of Ed Reardon's first (and only) successful novel, without giving him any of the credit, and Ed still resents him deeply for this. They never pass up a chance to snipe at each other professionally and personally, but they've known each other for ages and play weekly music gigs together, and the only being Ed is on closer terms with is perhaps his cat.
Tony Kornheiser (of Pardon the Interruption fame) has this relationship with the listeners of his radio show. Listening to the mailbag segment he has at the end of his show, his listeners can be almost vicious with the jokes they make at the expense of Tony, his producer, and his co-hosts. Tony has no problem reading these on the air, and even gets a kick out of it. Example here.
The hosts of the The Opie & Anthony Show, especially when they have one or more of their comedian friends on as guests.