That's the big distinction. We as the audience may or may not like Chuck, he certainly lacks Jimmy's charm, but he does everything by the book and -whether we like what he's doing or not- within the confines of the law. They have common factors, they're both intelligent and ambitious, they both seek success and (for better or worse) take pride in what they do and how they do it. It might only be one or two traits that separate Jimmy and Chuck, but the decision to obey the law or not to makes for a huge divide.
I've actually detected a twinge of jealousy in Chuck this season, particularly in the flashbacks. I think there's an unacknowledged part of him that envies Jimmy's way with people and his charisma and that probably is apart of the enmity he has toward him.
Kim ripping Chuck a new one is what I've needed since forever. I don't care if he's right in this instance, they almost certainly wouldn't be in this situation if he hadn't been sabotaging his brother's attempts at going straight (for years!) and being two-faced as hell about it.
Was that Mike's regular car? They definitely showed how visible it was, to the point that during the episode I was thinking it must be a beater he'd gotten for this job. Very sloppy if it's his car.