Should I reach out?

I kind of miss an old friend but we stopped hanging out after a misunderstanding. But really he was kind of reckless and that's really the reason why I stopped hanging out with him. He only gets like this when he's drunk but overall he was pretty decent. He just has some flaws but he really doesn't mean any harm towards me or anyone. I want to clear up the BS between us because he's actually a good homie. I now realize that conflicts are part of friendship. Its just like family, families go through some ups and downs too. I just wish my friend would think more about the decisions he makes before he commits to them. I guess I can re-establish our friendship but I'm gonna have to set some boundaries next time. I'm gonna start calling him out whenever he does something wrong. He was just raised in a rough environment so I know where his negative vibes come from. Its just awkward when you're friends with 2 people who are complete opposites and want nothing to do with each other. I sort of feel like I'm stuck in the middle. Hopefully neither of them will have a problem with me wanting to be friends with both. Here I am at age 20 and I'm still learning what friendship is....I feel like I'm behind the rest of the herd, they already have it mastered.