Friction can never be entirely eliminated, because no surface is perfectly smooth, there are always some irregularities present in it.
Friction cannot be eliminated except in a perfect vacuum. A perfect vacuum does not exist even in intergalactic space, and cannot be created on artificially on Earth So friction cannot be totally eliminated. Even a few particles in an almost perfect vacuum will cause some friction. In space or a very good vacuum created on Earth, this friction would be negligible for most practical purposes, but still present nonetheless.