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Kestrel was one of the main characters in The Wind Singer by William Nicholson, so yes Kestrel sounds good as a fantasy character. I think Kerensa also works as it is another less usual name.
I think using them as twins would be better than friends because it is probably more likely that twin names would begin with the same letter rather than friends.
As for the kind of person that comes to mind I obviously think of the William Nicholson character for Kestrel however, for Kerensa, I seem to picture I meaner character.

I think the names sound good for fantasy characters. I'd imagine them as twins or sisters at least rather than just friends. I also imagine them both with blonde hair and long flowing skirts.

The twins angle could work... maybe fraternal twins, with Kerensa being the more feminine, delicate and flighty one while Kestrel is a take-charge, tough one who looks out for her sister. I imagine Kerensa as a nymph-like figure with light hair and Kestrel as a stockier, strong girl with dark hair. Then again I am drunk.

What kind of person, I can't say, however, when I first read the names,I thought of twins. Though I made Kestrel a male. but it could be female too. They'd be good fantasy characters.