There's a great mental exercise. Create in your mind a projection that is outside your body and your current situation. A projection that don't have access to your current thought and emotions. And make the projection judge you and create advice for you.
The exercise is twofold: First of all, you'll actually train to become more empathetic towards others. It's because now you see and experience both sides over a single source of truth. You can compare the two viewpoints. You can analyse and reason about them. You can figure out what is correct and when.

In order to grow you need to regularly reflect on your past and decide what to change for the future. It is judgement. It is comparison. Those are unavoidable. What is avoidable, is what kind of comparison scheme do you use: Allow yourself to be compared through opinions of others and you'll loose yourself. You'll end up abused as a people pleaser. Constantly stuck between contradicting desires and demands of others.