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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.