Unintentional Sin and Teshuvah

I’ve had something on my mind this Elul, and I wanted to get some feedback on it. One of the areas I feel like I’ve missed the mark with is my communication. I’m autistic, and sometimes I don’t pick up on social cues and say things that I don’t realize are offensive unless someone tells me that they are. When I realize I’ve offended someone or hurt someone’s feelings, I feel absolutely terrible, and do everything I can to make it right. I know that unintentional harm still must be atoned for.

My question for you all is, how do I properly atone for this? I do what I can to learn and grow– I go to therapy and occupational therapy and shul– but, after decades, I haven’t changed significantly in this regard, and I feel that changing the behavior is part of teshuvah. So I feel stuck, and I feel really upset about feeling stuck– like I’m just a bad person.