I used to feel like that. I stopped because i realized that stressing over other people's feelings is just something that i shouldn't do. Other people's feelings and emotions are not your responsibility when you are not intentionally being hurtful or rude. You're doing things right by listening to their opinions and apologizing if necessary. I'm sure an explanation as to your side of things helps too, if you feel it needed, but i don't think you should feel obligated to explain yourself when it wasn't something intentional or hurtful, either.

Honestly, intentions matter a lot. unfortunately, not everyone will know your intentions. but that's okay. it's not on you to make everyone happy. just yourself.

I think there's a meme around somewhere that makes light of this feeling. I think the last line is that, when walking away from a conversation you just had, you would think 'that wasn't my best work.'

It happens, but as it has been mentioned, you can only really be mindful of the things you're doing intentionally. A lot of it comes with age, but practice also helps build confidence. I had a philosophy that if I said something mean about a person, I had to be able to say it to their face and accept whatever consequences come my way. I didn't go out of my way to be mean, but we've all been in a situation where you just wanted to tell the other person they were being an asshole--whether or not it's appropriate to do so is up to your judgment and your backbone.

I mean, it takes a little practice to balance and find your own voice in social situations. We can all pick out pretty quickly who is a prick under the guise of being "honest" (the most cringeworthy) or "edgy," (just eyeroll worthy).