The key is exploring common ground and an allowance for the autonomy of the individual. (an experiment that seems to have failed thus far in human history. Maybe we are finally at the point where it could work??)
Until we can eliminate narcissisistic(?) tendencies we will still need laws, whether they come from government, religion, or both the result is the same, fear of punishment, and promise of reward, (whether it's real or not it doesn't matter it only matters that the ruled believe it) helps to keep all but the most pathological in line, and therefore allows a society to flourish.