Questioning authority figures

As children we were taught not to question authority (ie-parents, teachers, doctors, etc.) as it was seen as disrespectful. But this has crippled most of us as we age in life. How do you get to know someone without asking questions? Why should we follow rules if we don’t question them and understand why they are in effect? How can we understand why people do and say what they do if we don’t ask questions? We don’t have to agree with what others think but it helps to understand why they think that way. And it also helps us to understand our own self better along the way.