I have past experiences that made me unsure about what to do with the situation.
I talked with my therapist about it, and thought a lot about what to do.
In the end I did three things:
1. I took a couple weeks PTO, to get some time away from the stress.
2. In my performance review self-evaluation, I mentioned that me and my coworker were not aligned.
3. I sent a message to my coworker asking if we could talk about the status of our project and in what direction we are moving.
Since then, things have improved greatly.
I went from feeling on the brink of burn-out, to feeling that we are working better together now.
After I reached out to my coworker, he also took a great number of steps by his own initiative to help improve the situation. I think that probably he was also feeling worn down by the situation and that he may have been wondering what he could do about it as well.
If you don't have a therapist to talk to. Find one! That's what I did. I used a third-party wellness platform to find a therapist that I could talk to. I pay for it myself but it is well worth it. One hour per week.