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Yesu teaches that culturally conditioned thinking is not free will.  Following the Way must be done in free will.  Culturally conditioned thinking is often the source of social justification for evil.  The suppression of women, for instance, is one of the many areas which Yesu challenged.  The word hate as used here and in Luke is softened by Matthew.  It tells us that we must be able to discriminate and cut ourselves off from incorrect cultural ways when necessary. See also Luke 14:26-27; Saying 15, 16, 103; Book of Th 5:6.