Rendre visite has a somewhat negative meaning in terms of something being an obligation. That's fine if that's what is intended but you "aller voir" someone who is a friend.
Freeform Writing Exercise A2
As a native French speaker, "rendre visite" doesn't imply a sense of obligation. It is a generic expression for "visiting" someone. You are correct that "aller voir" is used often when talking to someone you know very well although its translation would be "to go and see" rather than "to visit" (and it is colloquial too ;-) ).
I hope this is helpful.
Bonne journée !
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