Compare with the use if vous and tu in French and there you have a good guide to the use.
The one that confuses most learners is polite use of sibh. Compared with English, where we have all become much more familiar, the use is somewhat archaic. I still use sibh with those I meet for the first time (but not with children) and with those whose position I wish to recognise. With individual family, children, friends and good acquaintances I use tu.
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