We would have to totally rethink our relationships, both familial and social.
The first thing we would find out is that there is nothing to be gained by lying, or dishonesty. The logic would be that if I know what you’re thinking, and you know what I’m thinking, our relationship (whether family, vendor/customer, whatever, would suddenly be based upon the truth. Any relationships based on deception or lies would be weeded out, and yes, the first few weeks there probably would be a bit of chaos, as society in general adapts to the changes. I think we would eventually learn to shield, or at least disguise, certain thoughts.
For example, let’s say the hypothetical Mr. Jones is a customer of mine who buys a lot of my products. He spends a lot of money when he comes to my place of business, but he is obnoxious, has bad breath, and just smells funny. In the current situation (we can’t read each other’s thoughts) he would be treated as a valued customer and encouraged to come back, and there would be no mention of his annoying or disgusting aspects. He would leave, apparently satisfied, and come back the next time he needs my product.
If we were telepathic, He would know I can’t stand him except for the money he spends. He would not be able to hide his thoughts that he thinks my prices are too high, my service is poor, and he buys from me only because I am the only vendor he can get the product from without having to travel 50 miles.
Would the telepathic information make us more judgmental or less?