I enjoyed reading your post. I also serve in the Army and I just attended the new Master Leader Course for those going from Sergeant First Class to Master Sergeant. In this curse there is a 6 hour block of instruction on Servant Leadership. It sounds like you are ahead of the ball game with you style of leadership. Servant Leadership is the way of the future for the Army. I know at times we find ourselves having to add emphasis on our tone of voice when communicating to individuals, but everyone must be treated with dignity and respect at all times. If respect is lost, then communication is lost as well.
Ricky