If you hurt someone, whether intentional or not, apologizing is the least you can do.
If you don't believe an apology is warranted, apologize, and sort though where the disconnect is later.
First, you can injure someone, physically or emotionally, without making a mistake or being wrong.
So, it’s possible to feel guilt over an injury even if ultimately, you did the “right thing.”
The point of an apology isn’t solely to say “I was wrong”. They can be an acknowledgment of the injury you caused.
If your actions cause an injury, and you feel no need to apologize, because you “didn’t do anything wrong”, you’re just an asshole.
Unless by apologising you start a new process of (often absurd) penalties that you cannot control.
Exactly why lawyers instruct people to never apologise or admit fault in even the smallest fender benders.
Never mind offending the woke.
Fwiw, I've always found such statements insanely baffling - in an amused befuddled sort of way. Why would anybody want to spend their life with somebody to whom they couldn't explain themselves and or find common ground?