IIRC in the old days, not as in before 58/15 LT pickups were released, but when humans were still in the hunter-gathering state before things like agriculture, communities, written language and civilization, folks often lived in tribes. Most inter-tribe interactions didn't go well. Occasionally, however if an outsider wanted to have a peaceful interaction with a different tribe they would often just hang out at the periphery of the tribe and allow time for that tribe to get used to their presence and then gradually increase their proximity and interaction at a rate that the tribe wasn't alarmed.
Jane Goodall apparently did something similar with the gorillas over a few weeks or months to great success.
Just treat your desired circle as a moderately functional tribal primates and you should be fine.