Sliding bearings made of advanced polymers like Polyetheretherketone (PEEK) are preferred for medium and heavy-duty applications. The high-temperature additive manufacturing process permits the efficient fabrication of lighter porous parts using high-cost materials like PEEK. Customised geometries and surface features are easily achievable using an additive manufacturing process and facilitate design for the required performance. The 3D-print parameters employed affect the surface characteristics and are investigated. The variation in infill porosity is found to affect the crystallinity, hardness, modulus, and surface roughness of the printed samples. The friction coefficient variation, wear resistance, and temperature rise in the 3D-printed PEEK samples are studied when slid against steel discs under dry sliding conditions. The material transfer between surfaces varies based on the sample's surface properties and porosity, significantly affecting friction and wear behaviour. Accumulation and strong adhesion of wear debris in the groves of PEEK samples contribute to improved wear resistance. The temperature rise in the polymer sample also depends on the infill porosity, and a reduced temperature rise is observed in porous samples, which will improve the life when used in bearings.