I believe that criticism and judgment are synonyms. For this reason, any criticism that we express regarding any person or item is actually a judgment and has a negative connotation. Most people do not realize that when you say something about other people, they will take offense, even if it was not meant to be critical.
It is easy to criticize someone, because you can go on and on about others’ faults. We have the tendency to criticize at length, from the top of one’s head to one’s feet. In contrast, when we want to praise someone, it is usually very brief. It is much harder to praise someone because it requires brevity. Very seldom do you hear anyone praising anyone else at length, unless he’s dead, of course.
Oozing Wisdom 
I would have to agree with your statement. We judge without realizing it.
However, there are those of us who belong to groups for the express purpose of seeking criticism in order to improve our writing. Maybe, that kind of criticism is okay. If you solicit criticism for yourself, it can hardly be considered judgment from others.
I agree with you. If you tell people that it's constructive criticism, some people will accept it without being offended.
It is hard to accept criticism; if it is offered in a way that is done compassionately in order for me to become a better person, it is generally easier to swallow. Criticism with lots of affirmation, not condemnation.