This paper investigates the coexistence of two competing species on random geometric graphs (RGGs) in continuous time. The species grow by occupying vacant sites according to Richardson's model, while simultaneously competing for occupied sites under the dynamics of the voter model. Coexistence is defined as the event in which both species occupy at least one site simultaneously at any given time. We prove that coexistence occurs with strictly positive annealed probability by applying results from moderate deviations in first-passage percolation and random walk theory, with a focus on specific regions of the space.