Yes, you will be free with time. Get involved in a club or your community. It will help a lot.
It took time to indoctrinate you so it will take time for the voices to go away. How long varies by person. Sometimes I hear the JW voice as well but I recognize it for what it is and then decide if what I'm thinking is helpful, harmful or judgemental. Once I decide how to process that voice, it now becomes my voice.
Question the voice so that you decide what you want to think and its not a JW voice telling you what to feel and think about things. And yes, getting involved with community events helps. You get to see that most people in the world are not children of the devil.
After I missed a few months of meetings and found other ways to use my time, I went to a sunday meeting where I didn't know anyone to see if anything would click. You know what...I thought it was all a bunch of garbage filled with a few corny jokes. That helped turned down the volume on the JW voice.
It just takes a little time.