In this study, under the conditions of using tools at a high rotational speed (HRS) of 10,000 rpm and an ultra-high rotational speed (ultra-HRS) of 18,000 rpm, the produced welding heat input was utilized to weld two specimens of Al alloy 6061-T6 with 1.0 mm thickness and 316L SS with 0.8 mm thickness. The microstructural characteristics, mechanical properties, and electrochemical corrosion properties of the aluminum alloy–steel joints were analyzed. The higher tool offset forms an intermetallic compound layer of less than 1 µm at the Fe-Al interface on the advancing side (AS) at different speeds. This results in a mixed zone structure. The lower tool offset forms intermetallic compounds of only 2 µm. The formation of a composite material based on aluminum alloy in the weld nugget zone improves the hardness value. The intermetallic compounds are Fe3Al and FeAl3, respectively. It was observed that the formation of intermetallic compounds is solely related to the rotational speed, and the iron-rich intermetallic compounds produced under ultra-HRS parameters have higher corrosion resistance. When the tool offset is 0.55 mm, using the HRS parameters, the tensile strength is 220.8 MPa (about 75.9% of that of the base metal).