There’s an expression I am comfortable with and I wish more people could be.

NOT “I’m sorry you feel that way.”

Rather: “I’m sorry I made you feel that way.”

You can say this to someone without accepting blame for intending to hurt them or trying to hurt them. It’s just an acknowledgment that your actions had a consequence. Some people think that they have no responsibility for unintended consequences of their actions, and that only what they intended matters. Of course it’s important what they intended, and where they were coming from, but they can also accept that perhaps they didn’t think of everything or fully appreciate what their actions would do. We all make that mistake.