They were alliances of expediency.
Hitler had no love for the Japanese. He considered them an inferior race. But Germany had no serious short-term designs on that part of the world, and believed that Japan could help in case the USA joined the war. And possibly help make the USSR fight on two fronts after Hitler turned on them. (Hitler also hated Communists.)
Mussolini and Hitler had a friendly relationship, and Hitler felt that they could help in southern Europe/northern Africa. He had no doubt that they could be defeated later.
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