In this shiur, delivered in Stern College, Rav Burg explains how Yehuda approaches Yosef by saying he is like Pharaoh. When we give Mussar (including to ourselves) we must begin with the recognition of their greatness and explain how this behavior doesn't align with their greatness. Additionally, we must always remember that people behave the way they do because they come from somewhere and anything that is understandable is ultimately forgivable.