Endogenous coregressor is a not so well-developed concept in econometrics since as above mentioned. "endogenous" is more associated with the concept of the correlation or relationship with the error term from an exogenous variables, and not exactly the case where exogenous variables maybe endogenous among each other, because if one changes, the other changes. But basically, you're implying that your linear model of the form of
$$ Y = X_{1} \beta _{1} + X_{2} \beta _{2} + E $$
When you derive the OLS estimator from this for $\beta _{1}$ you'll notice you'll get:
$$ \beta _{1} = (X'_{1}X_{1})^{-1}X'_{1}Y - (X'_{1}X_{1})^{-1}X'_{1}X_{2}\beta_{2} $$
In this point, if you want to get an unbiased estimator you may assume that $X_{1}$ and $X_{2}$ have a linear relationship, and that will not bias the result. But that is quite different from having a variable which is not only linearly related but rather endogenous determinated among the regressors, that is, when $X_{1}$ or $X_{2}$ changes, the counter-part endogenous regressor also does. Commonly expressed the case where $Cov(X_{1},X_{2}) \neq 0$ and this derives in a biased estimator.
For some reason, this topic is never discussed, but it can bias the estimates harmfully than single multicollinearity does ! (recall, multicollinearity is just a linear association or relationship, but itself it is not implying that covariances are changing together between your explanatory variables)
To get an unbiased estimator for $\beta_{1}$ you need to argue that $Cov(X_{1},X_{2}) = 0$, which is something that hardly people do today in empirical literature, since they put all relevant variables without considering the possibility of an endogenous co-regressor!