Yes, it’s possible.
I remained friends with my favorite escort for a few years after I stoped hiring. But during Covid he stopped responding to my texts so that friendship Is over.
Another escort has become a close friend. He got laid off of his day job right when Covid started. It was impossible to get a job then (“stay at home” orders, etc.). So I hired him one last time for a “G-rated” session where he made dinner and we just cuddled on the couch and watched a movie. This was about two years after I had last hired him. He had since moved to another town but we text a lot and see each other for a meal or at least drinks when one of us is n the other’s town.