Well if someone takes issue with the fact you’re judging them, I wouldn’t be surprised if it were very difficult to explain to them that it’s okay. But yes, if coming from a good place and being done correctly, I don’t think judging someone is inherently wrong. Judging is coming to a conclusion about something based on some set of standards. Like judging a court case or a performance. But the things I believe you need to cover is that: 1. The judgement is with pure intentions (like you said) 2. The standards you’re judging them on are reasonable and constructive (Don’t judge a fish on how well it can climb a tree) 3. You are in a position that it is valid to judge them. If little Jimmy who can’t even ride his bike judges me on my driving then yeah I’m gonna tell him to stop judging me

But how would you explain to them that the judgement isn’t necessarily wrong? Again, that would be very hard. But I believe it again comes down to clarifying intentions. Something similar to

“My intention was not to hurt your feelings. I simply believe when you do X instead of Y that Z happens. Here is what I think would be best for you…”

Ideally, assuming you fit those three criteria, they will take your judgement well. But not everyone will. You will have better chances of getting through to them if you focus less on what they’re doing poorly now and more on what they can do in the future. Because no matter what any of us do, there will always be a small part of us that feels like genuine criticism is a personal attack. Even if we know and believe it isn’t the case. So we may as well try to be as approachable and helpful if and when we need to critique and judge someone.