Your sense of accompany and study is clearly not what Francis means.

Your sense presumes as self-evident that the companion knows what is morally correct for the person in question beyond a shadow of doubt. Francis begs to differ. He understands that Jesus unambiguous command to not judge applies to assuming we know what is objectively correct for this person in this situation. 

Now, were we not working under new rules of civility, I might go so far as to suggest that your approach is arrogant in relation to the other, and that is not Jesus' approach. But since we are under new rules, I won't say anything remotely like that. ;-}

Yes Jesus did condemn the Pharisees, but in general terms his condemnation tended not to be for their own action about themselves, but about their harmful actions towards others. Not completely unlike your approach of finding virtue in imposing a burden. Again I know you understand my gist is not derogatory, despite ad hominem implications. ;-}