The truth is none of us are perfect. Sometimes we make mistakes. Often they are not deliberate. They are honest to goodness errors in judgment. Perhaps you weren’t thinking about how the other party would take your actions. Perhaps you hurt them inadvertently.
If you are sincerely apologetic for hurting the other person, I think it’s good form to apologize.
Many people think they will lose control or power if they apologize. People think that if they apologized they are admitting weakness and thereby giving an allowance for the other person to abuse them or walk all over them in the future. I don’t think you should assume that another person would do that.
It’s best, in my opinion, to take responsibility for something you may have done wrong.
Here is a guide to help you decipher the rights and wrongs of apologies: