Type A and Type B - How did yall make a long lasting relationship despite differences?

I, 32F, am in the healthiest relationship I’ve ever been with 31M. It’s been two years. I made a manifest list before I met my bf and he checks off every box. Healthy communication, ambition that doesn’t override gratitude, empathetic, enjoys little things in life, and much more.

Here’s what we’re working through. I am a type A planner and he’s a type B go with the flow. He kills it with his goals and purpose and I thrive professionally and socially in my type A. We’re both independent and also have quality time and physical touch as our top love languages.

One specific example of type A and B-ness in our relationship that’s been a friction:

As a female, I’ll have much more to do to get ready (blow dry, curl hair, skin care, make up) and all he has to do is shower and get dressed. Yet, somehow, I’m still ready before him.

Another example:

We’ll plan to go to the gym after work together. His be there “soon” is an hour later when my “soon” is ten minutes (we live ten minutes away from each other). We’ve tried to set times but sometimes his flow just doesn’t fit the timeframes.

I’m recovering people pleaser so I always tend to lean towards what my partner wants. For example, I’ll pre-screen menus to make sure it has stuff I know he’ll like and I’ll save the other restaurants I want to go to for me to go with friends. So, naturally, I tend to cave into his type B flow most days we spend together. This has impacted my routine and my mental health.

We’ve had healthy conversations surrounding this. We both agree we both need to be more of each other. He’s agreed that he wants to be more intentional about honoring plans and things I like as well. I have a hard time letting myself go through with it because I don’t want to feel controlling. I grew up in a household where everyone was mad at each other so my default is to either 1) people please to keep the peace or 2) be independent. He constantly tells me I shouldn’t suffer in silence and that my needs matter too.

We’re still working on the balance in practice. I am sure there are plenty of type A and type B couples who have found their groove. So, for those who’s been in these shoes, I’d love to hear some tips and insight. How did things evolve? How did the hard parts end up being okay as is? How did yall connect with each other while being able to be in your own groove? I want to honor the both of us that can support our natural ways.

TL; DR - How do you make a relationship last when one is a type B and one is a type A? Healthy commutation and empathy exists in the relationship. In practice is taking some work and rewiring.

Thank you!