Yes, but all that is required is that you treat other people with respect and compassion and recognize them as people.
People centuries past learned this and it was their ideal, as it was people and civilizations all around the world. Cities tend to be better for that understanding, but France under the French Revolution got it and tried for it, Rome tried for it in Europe (more so under the Roman Republic than Empire). The Vikings actually from all evidence they are finding now came very close. The Ottomon Empire got it actually surprisingly well, or at least that it would be in charge of its own affairs and that people from other places and religions could do their own thing provided they followed certain rules governing social interaction in the marketplaces and public streets, and a lot of other things it said you do you on. Various Chinese and Indian empires got it or very suddenly didn't, depending on how open they were at the time, and there is evidence of a healthy trade going on from the Norse and Mongolia and China and Jerusalem, including people who just settled in either places and intermarried.
But more importantly, even if our baser instincts say to be cruel, it is important to overcome them and act humane and with compassion and understanding, because that too is a part of who we are as humans, and that is how societies form and form the best ideas of the future. Also from a laws of nations/original position (Rawls) perspective, if we can agree on that, we can build out from there, but first we need to agree on that.