To a degree.

It’s not always so black and white. Take for example child marriages where little girls were betrothed to older dudes. Or how some cultures would treat people based on race, gender, etc.

Some things can, and should, be judged critically (holocaust, “comfort women”). Some things can get a pass (movies like Silence pf the Lambs).

TL;DR history should be judged on a case by case basis and we should avoid blanket judgement.