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As far as the eldar and dark eldar are concerned, they are battle brothers because as others have said, they would not stand idly by and watch another race kill eldar from another kindred (i.e. craftworld, dark eldar, exodites etc.) without interfering. They also regularly co-exist (i.e path of the outcast) and co-operate if it benefits both of them to do so.
Sure they come into conflict with eachother occasionally, but with nowhere the regularity of chaos and the Imperium. They also never engage in major wars with eachother as they don't have the need or the manpower to do so.
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