I think that people weighed down with low self esteem are more at risk of projecting their issues onto others like them & despising those people, with the potential for abuse if they don’t take responsibility for their own behaviour.
In some families, respect & compassion are the norm.
Most families & the individuals in them are somewhere in-between. Negotiating the boundaries is difficult, but worthwhile if healthy relationships can be established, because people with similar issues & backgrounds have the potential for greater understanding .