The correct answer to this open question is the following.
Although you forgot to include the main point 1 as a reference, we can help you with the following comment.
"How do we engage with others while staying true to ourselves?"
The best to do so is to genuinely be ourselves, truly knowing ourselves after reflecting who we are, what we aspire, what are our strengths, and weaknesses. If we know what our belief system is and why, we won't have any problem in relating to other people, although they have different belief systems and approaches to life.
We can respectfully disagree with other people's ideas and show tolerance for the way other people think.