Yes, in the bearing of others sins, patiently and with compassion and kindness and humility. Reread the passages in my earlier post.
This is how you 'wash the feet' of others in humility:
"12 So, as those who have been chosen of God, holy and beloved, put on a heart of compassion, kindness, humility, gentleness and patience; 13 bearing with one another, and forgiving each other, whoever has a complaint against anyone; just as the Lord forgave you, so also should you." (Colossians 3:12-13 NASB)
If all the church is doing is washing literal dirty feet and not doing the above they have completely missed Christ's point. Completely.
If the church leadership would serve the sheep as Jesus served, rather than building huge buildings as monuments to themselves and owning several multi million dollar homes, and expensive cars and fine dining and costly clothing.... then the Church would not be the icon of Hypocrisy it is today.
Jesus wants Peter to learn the way of God's Kingdom, which is the way of the greater serving the others, not as the gentiles or the Pharisee's but as the example Jesus has shown him.
The example is about the greater serving the others.
It's an example in Humility.
JLB