I am super judgemental and hyper critical. I grew up with a father like that, and my brain became my father after he was no longer around. And how I judge myself is how I judge others. But when I become aware that I'm being judge-y, I remind myself that it's not necessary to pass judgement on others. And I try to relinquish control in situations where my input is not absolutely necessary (which is pretty much most of the time, if I want to be honest with myself).
I wouldn't beat yourself up about it. It's in your head; it doesn't have to rule your life.