IMHO, it's impossible to go through life not upsetting someone, somewhere. If we try then at some point, we are giving up our own identity, our own opinions, our own ethics and/or integrity. Some things need to be said, and ya'll know I'll be among the first to do it. That is something I hope I never stop doing. If it upsets someone, then I would hope that the person would look inward to see why. If something I say triggers someone, then maybe that person needs to know why he/she had that reaction and deal with it.
That's whay I do! I'm a better person for it.
Being compassionate and empathetic as you are, WW, and anyone else like you, those people can reach out and help those that were triggered, etc. I don't shy away from that, either.
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Psalm 119:105 Thy word is a lamp unto my feet, and a light unto my path.