The way of Jesus is the way of vulnerability and reconciliation. With Jesus, we get to be 100% who we are, including all of what makes of ashamed, and we are told that we are still worthy of love and belonging. We are reconciled and nothing will separate us from God's love. That means we get to be vulnerable with those we love and let our true selves show, warts and all.
When Jesus was transfigured on the mountain, he brought only his three closest friends / disciples. He brought only those he knew he could trust with the revelation of his truest, inmost self.
I can imagine Jesus being anxious about how his friends would react, thinking that they might run pell-mell down the mountain or be totally freaked out by him from then on. They were a bit freaked, wanting to build a booth for Jesus, supposedly so he could stay up there, and they could visit from a safe distance.
Jesus wasn't having it, however, and came on down the mountain with them, telling then not to share what they had seen. They had to be ok with Jesus not only as their carpenter/rabbi friend, but as the Son of God as well. That was something he could share only with his closest friends at the time, and they could accept it, see his true self, and still love him.
With reconciliation, we have the same vulnerability Jesus did, exposing our inner self which we often hide from others, exposing our misdeeds and our shame, hoping that they do not make us unlovable. Then, with reconciliation, we find that we are absolved and reconciled. We are still lovable.
We are not defined by our sins. We are defined as God's beloved children, worthy of love and belonging. Our sins get in the way of our relationships, but they do not define us.
Admitting our faults to God, and admitting our faults to others who are trusted enough to hear them is a vulnerable act, and one that frees us from our shame so that we can live not as the sum total of our sins, but as the beloved people we are.
The sacrament of Reconciliation of a Penitent is offered in the Episcopal Church as well. It is offered to all as a helpful way to speak out loud one's sins in a totally confidential conversation. Then the person gets to hear the words of God's forgiveness proclaimed by a priest. While we know in our heads that God forgives us, our hearts often need to hear the words spoken by a human being. Then the priest lays the conversation on the altar and gives it to God, never to be brought up by the priest again.
In whatever form it comes, the vulnerability of reconciliation is a huge part of our life as Jesus disciples. Jesus knows we are a mess, and he declares us beloved.