I think that the word "accompaniment" describes completely what Pope Francis would like to see happen. I also like how the Eucharist is described as healing (rather than the implication that if sinners receive the Eucharist it is a sacrilege).
In both ministry to remarried couples and gay Catholics, I often don't think that conservative bishops realize that when they come down hard they lose the possibility of "accompanying" the very people they want to transform. Those people will just take a different path!
"Accompaniment" recognizes that none of us is perfect--we are all sinners--and keeps the lines of communication open.