Nah, only fanatics hate and those are maybe 1%. Others just try to survive. Even the Guardsman are more motivated by their fear of Commissars than hatred for the xeno.
They may be motivated more by their fear of commissars, but I don't doubt they treat xenos as enemies by default (even if they don't outright hate them). At least majority of them does, since the Imperium indoctrinates its people to hate the xenos, and there are so many examples of xenos themselves not being exactly friendly towards humans. If you throw in imperial propaganda to the mix - 1% is being fabulously optimistic.
Even the potential exceptions (such as the Tau) are caught in the crossfire of the Imperium battling xenos and the inevitable clash of idelogies isn't helpful in maintaining any peaceful relationships between the two forces. In fact, the core idea is that Imperium of Man is "besieged by aliens and heretics", meaning the fortress mentality is going to be rather widespread.