I agree that if you estrange you have to be certain that you aren't going back because building trust again is difficult for both parties. The time to try and mend the relationship is usually while you are in it. Things just aren't always that simple though.
Now that you are back in contact, you have a chance to try again. That's a two way street now because estranging causes some pain, discomfort or even just mortifying, what will the neighbours think, embarrassment to even the most awful people. There has to be some apology on both sides.
If you haven't had an apology for the reasons you estranged, then you need to have that conversation about why you walked away and if you start that conversation with a genuine apology for doing it, you might find it's reciprocated a bit more easily. If you have to be the one to initiate, then dealing with their pain might help them see past it so they can hear yours.. Of course there is the chance they will just take your apology and put all the blame squarely on you with a smug grin but I doubt it matters, it's an answer to whether you should be in contact with them.
At least you can then walk away again knowing you tried your best. Sorry that doesn't sound very hopeful does it?