For example, when we move/walk, we apply a force (via friction) on earth, and the earth in turn on us. So essentially I see it as an energy transfer as follows:
Suppose I move in same direction as earths rotation. Here I am applying a force in such a way as to increase my velocity from initial $\Omega_{earth} \times radius_{earth}$ , so as to move relative to earth. I also reduce earth's angular rotation during this walking motion due to force I applied on earth. As a whole the system has the same energy.
In light of this, friction doesn't appear as a heat dissipative force to me.