My first thought was that what Matterwave and Phinds said is the only possible answer. If you're both in the front seat, then I don't see a reason to even suspect that another answer is possible.
However, if one of you is in the front seat and the other in the back seat, then there's the fact that the car is going to have different lengths in the inertial coordinate system in which it was at rest before you turned on the engine, and in the inertial coordinate system in which it's at rest now. In the former, the back seat will have a higher speed than the front seat, as the car is "shrinking". This could be a reason to suspect that your friend's speed relative to you will be non-zero.
If the car is doing "Born rigid acceleration" (the default behavior of a solid object that's being accelerated gently), then I think the answer is still 0. To get an answer that's significantly different from zero, the car would have to accelerate so violently that shock waves through the body of the car influence the speeds of its components parts significantly. This will tear a real car to pieces, and kill both you and your friend. So if you live to see what's happening, what you will see is that your friend's velocity relative to you is zero.