The ability to connect well with others, forming an effective sense of contact, togetherness and community while retaining our independence, voice and autonomy is a difficult balance but Fritz Perls' 'Gestalt Prayer' relieves us of any sense of guilt or failure while holding open the joyful potential:
I do my thing and you do your thing.
I am not in this world to live up to your expectations,
And you are not in this world to live up to mine.
You are you, and I am I,
and if by chance we find each other, it's beautiful.
If not, it can't be helped.
Fritz Perls on Wikipedia