A great test of friendship is to refuse someone for a simple thing, politely. A good friend will dismiss the matter and move on with no hurt feelings or issue.
For example, if it's a project at work where we're trying to agree on direction, consensus must be built. Saying "no I disagree with that decision" (or that interpretation of an analysis or whatever) is quite difficult. When performance review time comes around, I get the feedback that I should speak up more since people value my opinion. And when I do speak up, it's well received, and we always have polite constructive discussions and everyone's happier for it, even when it ends up with "agree to disagree."
It's kinda the ideal scenario and yet it still takes such a huge emotional toll.
You can't feed a child nothing but candy. Candy is delicious and great, I love candy, but it's just sugar. To merely agree with someone all the same is to both undervalue their agency (what makes them human, their ability to engage critically and freely with new information) and over-value the norm. In other words, to agree with someone all the time is to give them nothing but sugar candy.
That's not license to yell or be a jerk. Please don't go around trodding on people and calling them sheeple. But do disagree with people because it both helps you and betters them. To engage with opinions we don't have, to consume information we don't like is the intellectual equivalent of eating your vegetables.
I struggled for a long time and still struggle to be assertive. My first instinct is to say yes and I always feel bad when I say no. I would rather keep quiet than say no which is ambiguous. I am better now as I grow older. One of the reasons is because after some time unwillingly saying yes I would eventually explode and throw baby out with the water. I don't like that side of me so it is better to be firm and say no now than explode later. It is still a struggle but I get better every day.