Biblically, the word "condemn" just means to declare as guilty and to treat as guilty. It's the opposite of justification. When you say to a murderer "That is wrong, you will be punished in hell for it," you are, by that very act, condemning.
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Is it wrong to echo God's judgments that He revealed in His Word about it? No.
Righteous condemnation is not wrong. We have the right to call something as wrong and declare God's punishment of it, so we have the right to condemn. However, the EXECUTION of that condemnation (sending the guilty to hell) is not ours. It is God's. You can't do it anyway, even if you try.
Is it wrong to condemn? It is wrong to condemn the guiltless but it is not wrong to condemn the guilty.
Mt 12:7 "But if you had known what this means, 'I desire mercy and not sacrifice,' you would not have condemned the guiltless.