How can a good preacher reconcile enlightening people about their reality and connecting them to their religion, while avoiding criticism and division regarding the issues presented?

A good preacher is one from whom the attendees benefit, and who is keen on teaching people matters of their religion, explaining the rules of Sharia, and seizing events to connect them with what clarifies their rulings and reality in light of the Quran and Sunnah. He also combines the words of early and later scholars, and varies in his sermons between monotheism and warning against polytheism, calling to the Sunnah and warning against innovations, clarifying jurisprudential issues, and commenting on events through the Quran and Sunnah and the words of scholars, without emptying the sermons of exhortation and remembrance of Allah and the Last Day.