We are not called to cause suffering or ignore it. Providing care for the sick, helping someone through a difficult time are all acts of mercy and do help alleviate some of their suffering,or at least helps them get through it. In a way we “suffer with them” by taking the time to care for them. This is an act of mercy.
Sometimes though, there are things that we must allow people to go through for their own good or spiritual benefit. One example that comes to mind is disciplining children. So many people seem to think they should never make their child feel bad, or guilty, ashamed or inconvenienced, so they fail to provide limits and boundaries or to discipline them. Bad idea.
I am not talking about beating a kid half to death of course. But being grounded, having privaledges taken away, sitting in a corner, being shamed, can all help a child learn appropriate behavior and boundaries. Even that smack on the hand when they go to touch the stove or stick fingers in a light socket is not going to hurt them. They may feel bad and suffer a bit, but they do learn and develop a sense of appropriate behavior.
Or how about having to go to the doctor, having surgery or getting shots. We all subject ourselves to this for the purpose of regaining our health. We may not like it, but if we fail to take care of ourselves we can be sicker or even die. So sometimes suffering some further pain and inconvenience is better than ignoring our current pain.
I think the things we suffer as individuals occur for our spiritual growth for the most part. They may even limit us, but those limits may be the very thing that is keeping us from more serious sin or danger. Those limits may be helping us maintain a good spiritual standing with God, where greater freedom could mean we would lose our soul to the devil. Just a thought.