Heat will definitely be transferred but their won't be a temperature change: this is because the bodies will be in a state of dynamic thermal equilibrium. Dynamic because heat transfer takes place, and thermal eqbm refers to the uniform temperature.
In fact, energy does transfer between the two bodies continuously even if they are at the same temperature. There is always exchange of packets of energy at the interface of each and every body, whether in thermal equilibrium or not. The point that should be noted is that, there is no net energy transfer between the bodies.