But what I think OP meant, is that the bad things which happened in Iraq were not the intended outcome of what the US did. Those other, more horrible things were intended consequences, not mistakes.
Not quite sure why. Some tries:
1. A mistake implies a single decision.
2. Slavery worked as intended, right? It was more evil than mistaken.
Either way, you sure derailed my derailing of the topic, so I'll stop here :)
Or if they did start with a democratic government, to limit the voting to certain groups, like the US, Canada, and Australia did before universal suffrage.
Are there any successful countries that haven’t “cleaned up” first but introduced universal democracy?
Democracy means shifting it from a small number of people keeping you in power to all of the people. It's not easy.
CGPGray did a great video on this model: https://www.youtube.com/watch?v=rStL7niR7gs (Based on The Dictators Handbook by Bruce Bueno de Mesquita and Alastair Smith.
The proper answer is: introduce democratic government, clean up the country, introduce proper amenities (healthcare, etc) and spread the wealth for the benefit of the people.
Fact of the matter is: absolute power corrupts, and plenty of people would loot the oil money reserves for their own benefit if they had the chance. Just have a look at what happens in Russia.