It seems like this is about a someone who used to be a very good friend (our voices used to sound the same (they probably didn't literally sound the same but used the same sort of speech made the same sort of jokes because they were such great friends)) who was born into a perfectly good life with good friends (born on your feet) but then maybe went through some tough times likely to do with drugs and he sort of drifted apart from that person during that time but then eventually they came back (cant believe you made it out alive, and the big bad years are gone)
It seems like this is about a someone who used to be a very good friend (our voices used to sound the same (they probably didn't literally sound the same but used the same sort of speech made the same sort of jokes because they were such great friends)) who was born into a perfectly good life with good friends (born on your feet) but then maybe went through some tough times likely to do with drugs and he sort of drifted apart from that person during that time but then eventually they came back (cant believe you made it out alive, and the big bad years are gone)