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Don't be hard on yourselves, the world will always judge and be hard on you. You have to be the one to forgive yourself in a unforgiving world. There's lots of people who has made terrible decisions in their life and regretted it all the way up til they passed away. Living a life of regret, guilt, and misery is not what makes any bad decisions disappears, it's forgiveness, love, and growth.
I would rather make a bad decision, reflect, forgive myself, and do two times better for others and myself than to be my worst critic and haunt myself with my past, living life constantly dwelling in sadness and hatred.