Background: This study examines long-term trends in intra-EU trade among the Visegrad Group (V4) countries from 2004 to 2023, focusing on changes in export specialisation and comparative advantages in the context of trade resilience and sustainability. Methods: Trade performance is analysed at both the aggregate level and across SITC product groups, using Eurostat data. The analysis applies export and import dynamics, trade balance, export–import coverage ratio, trade balance index, and the symmetric revealed comparative advantage index. Results: The findings show significant heterogeneity in specialisation and competitiveness across the V4 countries. Poland reveals competitive advantages and trade stability in agri-food products. After European Union (EU) accession, comparative advantages and export specialisation emerged mainly in manufacturing and selected medium- and high-processed goods (SITC6–8), especially in Czechia and Hungary, and increasingly in Poland. Poland and Czechia shifted most clearly towards higher value-added products, Hungary followed a mixed pattern, while Slovakia remained narrowly focused on the automotive sector. Export competitiveness is closely linked to the business cycle, with upturns strengthening advantages and downturns causing only temporary weakening. Conclusions: The V4 intra-EU trade exhibits structural resilience, as key competitive positions persist and recover after economic shocks. Only Slovakia’s highly concentrated specialisation may entail risks for sustainable growth.