Thinking of watching Castle for the first time

So I just finished watching both Psych and The Mentalist recently, and now i'm looking for something similar to get into

I keep seeing Castle mentioned everywhere, but then in my research, which to be fair was limited as i'm trying to avoid spoilers, i've seen lots of fans say they're super disappointed with the ending, and that there are rumours things were tense on set between the actors?

So my questions are:

Did you like the ending? Would you still reccommend watching this show even though you know what the ending is?

Can you tell that some of the actors don't get along while watching?