[Minor nit-pick]
Friction welding is a non-fusion welding process. It is technically impossible to achieve 100% fusion if you, technically, aren't fusing the material.
[/Minor nit-pick]
But, yes, you should achieve complete bonding with a friction weld. It if obvious that the failed part was fabricated with a partial penetration fusion weld. Based on the apparent porsity visible, I'd guess FCAW, but could be SMAW or GMAW. Obviously, the weld was not up to the task.
If a friction weld isn't avialable, I'd recommend a TIG weld, with a filler metal to match the base material and a PWHT if needed to bring the HAZ back down to the base materal hardness. You'd also want to locate the weld at least 1/2" away from the end of the splines to keep the stress concentration from the splines away from the weld.
rp