Prost-Senna, Mansell-Piquet and Alonso-Hamilton all qualify under the mutual respect category. Look how Senna behaved when Prost retired at the end of 93, and the message to him through French TV just before he died. There was no one Senna respected more in F1 than Prost as a driver. Alonso and Hamilton the same, whenever they’re asked about each other in interviews its clear they have a lot more respect for each other than they do for Vettel.
As for Mansell and Piquet I remember an interview Keith posted on the site a few months ago, and it was clear they had a lot of respect for each other despite all the rubbish they put each other through when they were teammates. So they probably don’t qualify if you want a harmonious team, but certainly these great drivers were respectful of what the other could do.
Going by your criteria, Fangio and Moss is probably the standout. Clark/Graham Hill and Prost/Lauda as well.