P.M.
The only way I have found to get past all those sticky spots is a very effective process called Non-Violent Communication. Do a quick google search to find explanations, examples, books and classes. My husband and I both studied this a number of years ago, and still use this approach in difficult situations or with extremely stubborn, opinionated, or touchy people. It's pretty amazing what a difference it makes.
There are a few simple steps to master. The actual "mastery" takes some practice, so if you can find a workshop, or a study group working on it, it does help. But it's so worth the effort. It teaches you how to respectfully hear the real concerns of the other person, and let them know you understand their issues, without using the kinds of feedback that's likely to trigger the response you describe. Even though I still use it imperfectly, this has made a very positive difference for me in some very difficult family relationships.