Upset really is temporary. This can create relief and spaciousness to be yourself and share more freely. Even if someone is temporarily upset by what you say or do, it’s not permanent. If someone does get upset and then withdraws and turns it into a permanent grudge or hatred of you... look out. That is not someone you want in your life. They have a strong need to feel certain and significant by making others bad and wrong, and are unlikely to meet their needs in more healthy, positive, growth-oriented ways. They’re probably not the optimal person to be in any sort of relationship with.