Can you judge righteously?

I know I am talking about judging again.... but there is a reason. I feel that we as believers pride ourselves on being the world's moral compass which in turn allows us to be the "judge" of the world. Somewhere along the line the body of Christ has become comfort with speaking in judgment in not in love and grace. That needs to stop!! Can we righteously judge? what does that even mean? Well, let's dive in. Scriptures references: John 7:19-24, Isaiah 55:8-9, John 8:15-16,1 Corinthians 13Galatians 6:1