My mother is ESFJ. We really are about as opposite as you can be. I can make her laugh hysterically and we do have some fun times when we're both in our carefree mode, but there seem to be a lot of things that are difficult for us to understand about each other. We just don't think about things the same way at all. Many, many times I have had to say, "I hate to do this, but I'm just done with this conversation. We're going to have to agree to disagree. You are my mom and I value your opinion, but we couldn't be further apart on this."
Example: In her eyes, I'm supposed to get a "good job" (whatever that means), work my way up the corporate ladder, marry a woman that is the same race as my family, who does not have "issues" or "tatoos", and make good money. Also, whenever an event is coming up in the family, I'm supposed to be FINISHED with all the preparation for that event about 2 weeks before it happens or else I'm being lazy and irresponsible and I don't care about the things that are important in life.
I love her - she's my mom. But, ESFJ's can, at times, be VERY difficult for an INTP to get along with.