INFPs are usually pretty laid back, unless their core values are being attacked.
I've only known two in real life, but neither of them acted judgmental at all. They have high expectations for people, but these are usually well-placed in values like honesty and sensitivity to their needs. Aside from these general expectations, the INFPs I've known are very good at relating to other people.
They sometimes put excess emotional padding onto their critiques and arguments, but if you mention how important it is for them to stop, they usually try to.
How well I personally get along with INFPs depends on my mood and the amount of energy I have. They're very comforting and understanding people, but being sensitive to their emotions in return often drains me. Of course, this is a fault on my part, and I think that interacting with INFPs helps me to further my awareness on such matters, as draining as it may be. :]