In the Abstract of the article The Human Pseudoautosomal Region (PAR): Origin, Function and Future, authors A Helena Mangs and Brian J Morris say:
The pseudoautosomal regions (PAR1 and PAR2) of the human X and Y
chromosomes pair and recombine during meiosis. Thus genes in this
region are not inherited in a strictly sex-linked fashion. PAR1 is
located at the terminal region of the short arms and PAR2 at the tips
of the long arms of these chromosomes.
Figure 1 in the article The human pseudoautosomal regions: a review for genetic epidemiologists by Antonia Flaquer, Gudrun A Rappold, Thomas F Wienker & Christine Fischer published in the European Journal of Human Genetics volume 16, pages771–779 (2008) shows the PAR1 and PAR2 regions on the human X and Y chromosomes.
The X and Y chromosomes can recombine during meiosis, but only at their tips. The non-matching regions are usually very small, and are usually not useful for genetic genealogy.
Resources: