Why are we so different?
Why don’t we see eye to eye?
Why do we turn away and deny?
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Ah, to be human is to be the same which makes it possible for us to receive and thus share and also to be human is to be different making it possible for us to give what the other does not have. So we can be thankful for the differences otherwise we would have nothing to give or receive that the other or we do not have already. We are also very complex: free will, all kinds of feelings like fear, shyness, experiences, unknowns, etc. We are worth the effort to get to know and be known and that is life, love, peace, and maybe even heaven on this earth. Then again it might be as you say in your poem.
Ah..but every stranger is a friend we haven't met yet....so we do need to step up to the plate and say hello to someone you don't know: O)