My experience is this: the dynamic gets better when the warmth level increases. This does not mean lack of conflict, but it does mean opportunities for trust and vulnerability improve—and both trust and vulnerability are needed both to take criticism and to usefully express it.
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I hoped to protect many others from suffering, too, though my position in those cases was both less personal and less proximal.
YES. I want their suffering lessened too. I want them to feel safer and more at peace again too.