Judging or Caring?

What is the difference between concern and judgement?
I myself have felt strongly judged in the past when others were concerned for my well being.
I've been on the other end, concerned for another's well being, and yet they felt judged.
So what gives? Where does the difference lay? Where is the line and how do we know if we've crossed it?
If we strongly disagree with what someone is doing, isn't it a dishonor not to say anything? We aim to do what is for the Highest Good.
Yet if we say something, and the other person takes offense they may either get defensive or create distance between you. And then where is the progress?
This must be where personalities come into play...
Is this person really being judemental and critical, or is that simply how the other is receiving it, how it feels to them?
At the same time, the one voicing concern - are they thinking only in terms of logic and what is "right" and "should" be happening? These can be merely reflections of the one shouting out the orders.
Being told of a concern can be felt in different ways by different personality types. If we are feeling judged, we have to own a piece of that. That is also partly a reflection of how we feel inside. Many of us have broken pieces inside which are like magnets for feelings of criticism, even when a comment is not intended as such.
I am still learning the grey areas between enabling, tough love, having compassion, speaking up, and knowing when to zip it.
Sometimes too, I forget to remember that no one is "wrong". These reflections of each of us come from an all too real place.