We are never truly free until we feel no need to impress anyone. If and when we reach that point, then we can rest internally and live without concern about what people think of us. We know that what they think is between them and God, and that what they think cannot hurt us. It is what we think of ourselves that really matters.
Like many people, I was insecure for years, but as I received God’s unconditional love and acceptance, I found security in Christ. The better we feel about ourselves, the less we feel the need to argue over opinions and fight to be right, and we can find a way to disagree agreeably if the other person is willing to do so. Some people won’t be at peace no matter what we do, but we can all be peaceful in and through Jesus.