Senna was hugely liked and respected by the majority of other drivers in the paddock. His best friend on and off the track was Gerhard Berger.
His rivalry with Prost is well documented and was 100% genuine and he could come across as aloof and cold during race weekends but that was because he was utterly focused on winning the race. Off the track he was funny, approachable and always had the drivers best interests at heart.
He was a big voice in the drivers meetings in regards to rule changes and safety issues which almost all the drivers appreciated. Many drivers from that era have mentioned this.
Doubt you can say the same about Verstappen