Notice how Yaakov gives Brachos to all his sons by praising them. When each person realizes his own Maalos and focuses on them, then it doesn’t bother him to have a younger brother who thinks he’s better than him. The 12 Shevotim are each a precious “stone”, in a golden: תצֶ בֶ שְׁ מִּ “setting” on the Choshen. Each one is a world by himself surrounded by gold, who dwells mainly on his own greatness, and therefore no jealousy exists. (Although Yaakov did not praise Reuven, Shimon, and Levi, some people can thrive on always focusing on their Chisaron; like the Alter said: רוֹנוֹט לְ תַ קֵ ן חֶ סְ לָּ הוּ Your “passion” in life is working on yourself (and not your comfort). The same person who you need to love and respect, you may also need to be “M’vatel” and have “Farpocked”.
Perhaps these three Shevotim were like this, and criticism was good for them).
Yosef was his father’s Chavrusa who understood Gadlus HaAdam to the fullest, and he remains an example for all his brothers to follow. Some say that Yaakov intentionally made a K'sones Passim only for Yosef, to see if the brothers would work on their Middos and not be Nis'pael. This is why in Novardok, Davka TWO people opened a Yeshiva, so they can work on not being Nichshal in: מִּ י בָּ ר ֹ אשׁ Who is #1.
