There seems to be only one way to actually listen: wholly and fully to whatever Is. This is very challenging when you find that you do not like what Is, yet that is the kit and caboodle of the challenge itself, and I daresay the main factor as to whether we are in relationship (an actual, working interplay between fellow beings) or not. The ability to truly listen is such an important factor that it permeates our lives to our benefit or detriment, as per our abilities All the Way Through. There is nothing in our lives that is not touched by this.
The ability to listen or not means discovery or not and this is true of the outer as well as the inner. We tend to block what we do not like or shut if off or down rather than awareness just taking conscious note of the preference. Is it possible to listen to both the outer stimuli AND our inner responses of like or dislike without trying to pull it in (like) or shove it away (dislike)? In this way it is possible to listen deeper both to our friend/relative and to ourselves. Our fortified prejudices keep us from the Freedom and Beauty of Discovery. It's not that we 'try' not to have prejudices, that would be like fighting the force of gravity, but rather than them playing the role of a dam in the liquid world of our awareness, they are more like bolders in the bottom of the stream. Awareness can see them yet they do not constipated the works, and thus it can flow on as it's nature.
This requires an Inner work that has nothing to do with force or manipulation, but everything to do with love and a yearning to be free.
"The gentlest thing in the world overcomes the hardest thing in the world. That which has no substance enters where there is no space. ---Tao te Ching
Age comes naturally. You have to work for Wisdom.