When Jesus said “do not judge”, he apparently meant we should approve and endorse any behavior.
And there came to him the Pharisees tempting him, and saying: Is it lawful for a man to put away his wife for every cause? Who answering, said to them: Have ye not read, that he who made man from the beginning, Made them male and female? And he said: For this cause shall a man leave father and mother, and shall cleave to his wife, and they two shall be in one flesh. Therefore now they are not two, but one flesh. What therefore God hath joined together, let no man put asunder.
That of course is "judge who will go to heaven or not". While still here on earth I believe we are to abide by what the good book tells us and it still says having sex with Sodomites, animals and relatives is an abomination.
He also said this:
“Do not judge by appearances, but judge with right judgement.
John 7:24
Somehow, most liberals get amnesia concerning that verse.