"It would have been so easy, and felt so good in the moment to criticize them harshly."

If you have to fight the urge to criticize someone harshly, I think there are deeper rooted issues, lack of empathy being what comes to mind first. I took this article to be a lengthy way of saying "establish habits to not be a dick to employees", whereas most of the great managers I have had (and strive to be myself) come from the place of I really really want my employees to succeed, and will do what it takes to ensure that.

Can we just say "younger people" instead of Millennials? It seems pretty natural that people with less experience would want more frequent feedback on average.