That said, if you see a baby in a burning building, tons of people may yell at you not to go into the building.

I get your analogy, but allow me to go off on this tangent: I'm an actual volunteer firefighter and my experience is, that people in stressful, one-off-situations they were not trained for are absolute idiots and require clear directions in easy, short wording and segmentation of large todos into small, directly assigned tasks which you need to have them repeat to you, verbatim.

They will feel treated like imbeciles because that's what they are in that moment and there is no space, time or energy to work around that until whatever crisis is dealt with.

Having been the responsible person in these kinds of situations actually broke my desire to be liked by everyone and instead set targets and see to it that we reach them with with as good of an outcome as possible.