We have known each other since I have worked here.
If one wants to say that he still works here, one has to use the present perfect form.
If you replaced the present perfect with the simple past, “We have known each other since I worked here/started to work here” wouldn’t say anything about my present place of employment.
The sense that is intended here is available when the verb denotes a state (or activity, which is the case here, and which is quite similar to state in that respect).
For example, “He has been sick” (“being sick” is a typical state) can be said to mean “he is sick now” with some contextual help. In the example in question “since” does just that.
“...since I worked here" would indicate I stopped working here at some point before now.