You were never wrong all your life.
You have always taken the best decisions and courses of action that were allowed by the given circumstances, knowledge and resources at your disposal at that time.
Mistakes happned only in hindsight.
You would not have done the things that you did if you knew they would go wrong.
You believe that you are fundamentally a good person, and let me reassure you-You as a person have not changed. You remain,to yourself, who you think you are.
And whether that is a good thing, or bad, if for you to decide.