Just realise that people have come to where they are on a different path with different experiences to you. They may know more than you, or they may know less. You can't change people to be like you and you will go mad trying, you can only help people who want it. Other than that it sounds like you already have a new perspective to build on. And honestly a little judgement is fine, you aren't made of stone, but just make sure you don't hurt anyone in the process and are there if they need you.