I'm in the middle of the exam week, so I have to wait to hang out with my companions until it's done.
Me and my comrades are like brothers who are always together, fooling around, and picking on each other.
Me and my group of friends relaxed after a hard day at school.
Your relationship intervals... this doesn't make much sense at first, but if you think about it, at certain intervals from within your friends, you'll run into someone who's your companion... not just any old friend. Something better. Something part of your group.
The reading for 仲 is the one you learned. When you learned the kanji 間, we didn't give you a mnemonic for the (ま) reading, so here's one now:
Think through all your companions in your life. Imagine one of them is your Ma (ま). She's on your pirate crew, and a pretty awesome pirate.