I don’t know any Chinese person who “hates” Taiwanese people, or Taiwanese who hate the Chinese. As a member of the Chinese diaspora, although three generations removed, I can’t say I hate either one of them. We have our political differences, to be sure, but I suspect we’d much rather get together between ourselves and kick the politicians out. ;)
Approximately half a million Taiwanese people live and work in mainland China. Travel between the island and the mainland is, by and large, unrestricted. I’d say the relationship is closer to “USA-Canada” than it is “West-East Germany” or “North-South Korea.”