My $0.02:
I agree and disagree at this juncture in my life, disagree only because he's using judgment and discernment interchangeably. There is a fine line between the two.
There are no humans in a world of judgment. Meaning, personhood is reduced to a single judgment of a single moment. Like in our judicial system: nothing (or the smallest sliver) that creates the moment is taken into consideration. If you are judged as guilty, the rest of your life is altered. If you get out of jail, you are an "ex-con" until you die. There is no redemption. Then, it's often wrong or outdated. It has people out here with destroyed and disjointed lives and even still serving time over a guilty verdict on something that is harmless. WS thrives off the conflation of judgment and discernment.
Even worse, you do the same to yourself. Judgment is a double-edged sword. Our brains are extremely sophisticated "computers." It will take the judgment you made, store it and punish you for violations as well, forever. Taking into account that the exact same thing that you originally judged will never happen again, any judgments on people will backfire. Your mind will unconsciously judge you against what it deems "reasonable facsimiles" of which you may or may not have any conscious awareness.
Discernment makes everyone human, therefore saving you from unwarranted self punishment. Discernment says "I don't want what you are on so I will separate myself from you/it." There is no condemnation that judgment brings. You understand life has led that person in a direction in which you cannot follow/participate. If this person reemerges in your life, you can actually see who they are in that moment instead of overlaying the past judgment.
It sounds like he is describing judgment in some instances and discernment in others but using the same word for both. There is a subtle but very important difference. Everyone already uses judgment, that's why the world is so messed up. Discernment is what I believe is the message he wants to convey because only it actually brings the freedom he describes.
"Only God can judge me" is better interpreted as "Only God SHOULD judge me" for our own good, not theirs.