They only met once, in Hendaye in October 1940. The meeting was not a great success. Allegedly, Hitler said afterwards that he would rather have a tooth extracted than meet Franco again.
Franco's style of negotiation didn't please Hitler and, for someone who waged 'lightning war' as Hitler did, there was little about Franco's generalship that would impress.
Indeed, earlier the Italians were also unimpressed by Franco's generalship. They wanted a quicker victory during the Civil War and a more dynamic strategy to achieve that.
Franco, on the other hand, was in no hurry. He preferred a long slow war, which allowed him to claim that his never lost any territory (almost true) and allowed plenty of time for his brutes to carry out a murderous repression in areas his armies conquered. This repression aimed to eliminate all that Franco hated: socialists, communists, anarchists, trade unionists, republicans, democrats, atheists, Freemasons... The Spanish Civil War, at least in some places, was a war of extermination. The little Galician wasn't the most dynamic general, but he was serious about wanting to wipe out what he called 'anti-Spain'.