I do it all the time. There's no "rule book" on it.
Just my PoV:
Everyone is different, and we need to start by doing our best to understand them.
Sometimes, we understand that they are selfish, cowardly pricks, and that we just have to accept that.
That's seldom the case.
One of the lessons I learned, a long time ago, is that hurt people tend to be incredibly self-absorbed. This is people in mental or physical pain. Mother Theresa might have kicked her cat, when she was having a particularly nasty headache. We'll never know.
Understanding people is different from advocating for them, or "taking their side." If you want to understand rats, talk to an exterminator. I know a couple, and they really understand the little buggers.
But also keeping control of my side of the relationship is incredibly important. It should not depend on them. If they are unreliable or dangerous, then it is incumbent upon me, to limit the scope of our relationship.
Easy enough, if we are not in a situation that demands we work together, but I have also done a lot of work, with some very difficult people.
It can be done, but, in my case, it requires that I be quite self-aware, and take responsibility for my part of the relationship; which includes not expecting stuff from people that can't give it.
WFM. YMMV.