Read my last reply. I know people hate my views on this. It is a view my parents gave me, not to judge anyone.
Jesus taught His followers how/what to judge under this temporal earthly realm; which your Pastor seems oblivious to the difference of eternal judgement and earthly discernment along with righteous stewardship God expects us to adhere to.
Your parents were wrong.
Every Christian has to make moral judgments in order to discern between right and wrong, or else we fall into the trap of watering down the Gospel because we're afraid we might offend someone, might not be "nice" enough.
Scripture is full of exhortations to judge properly. Jesus said this: "Do not judge according to appearance, but judge with righteous judgment." John 7:24
Also: "But he that is spiritual judgeth all things, yet he himself is judged of no man." (1 Cor 2:15)
Matthew 7 1-5 is most often misused to try and claim Christians shouldn't judge, but only the first part is ever quoted. In it, Jesus is saying that we need to make sure we ourselves aren't taking part in the same sin we plan to judge. Once we do that, He finishes the passage by saying, "You hypocrite, first take the log out of your own eye, and then you will see clearly to take the speck out of your brother's eye."
He is telling us HOW to judge.