Correct, the teaching of Jesus was for preparing Israel for the kingdom (millennial). Becaue during that time if you do a judgement you will be judge by your own heart and hell could be waiting for you. that is you could find yourself in hell just for that kind of judgmental attitude.
also the without a cause is ointing to the persons anger not to them calling someone crazy or a fool.
Imagine if that took place today. there would be no one left in the earth
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