I think many adults are capable of having the mentalities of children, especially when it's effectively taboo to gently correct behavior.

Abuse is wrong and shouldn't be tolerated, obviously, but we've overcorrected as a society. Teachers, parents, mentors, etc. need to have effective ways of setting ground rules without demeaning and belittling like was so common when I was growing up, or physical violence like the generations before mine experienced.

It just takes some emotional intelligence. It's possible. Families like that exist, they're just the exceptions rather than the rule. And people from those healthier backgrounds are by far the more well-adjusted members of society as adults.