The goal is to accept history as it occurred and accept that societies were different in the past.
Sure. Accepting what they were doesn't mean you can't still judge them by modern standards.
Criticizing the past for not being modern is pointless.
Of course it's not! By judging them by modern standards and learning to see through the lies they told themselves, we can learn about how to improve our world today. If we, for instance, insist on not calling ancient Athens a democracy because only 20% of its population was allowed to vote, that can help us see through similar propaganda people in the modern age use to justify disenfranchising others.
You can learn from a historical society by
judging it critically rather than just accepting its rhetoric on its own terms.