I've definitely fucked up horribly before, but I forgive myself easily. The trick is to always do the best you can in the moment, and when you realize you can or need to do better you grow and move forward, you do better, you follow through with it in action and don't just think about it or wish you could or something. By continuously striving to improve myself I gain a lot of freedom from guilt, shame, and regret, and I gain a lot of confidence and self-acceptance.
That is not to say that I expect others to forgive me so easily, and for that I can get a lot of anxiety. When I'm actually healthy and doing well, my memory is kind of insane, and part of that is being able to recall verbatim conversations, even the tone the words were said in, where I was, and what was around me when I said, heard, or read them. That combination of anxiety and stupidly high memory can make for a lot of rumination and worry/fear. People don't know that you've seen it in yourself and grown. They only see your mistakes. I worry about the loss of connections or pushing others away. I can get really upset about the ways I have, or might have, affected people...not in the way of not forgiving nyself, but in the sense that there are still consequences that come from our actions. People leave, or suffer consequences, etc.