Dear {Name},
I feel like the world's biggest jerk. I cannot believe that I {did/said insensitive thing}. I hope you know that I would never intentionally {insult you/hurt your feelings/cause embarrassment/etc.}.
I don't know if my mind was elsewhere or my filter was off, but as soon as I {said/did} it, I felt terrible. I know, of course, that my feelings aren't the issue here. My words and actions caused harm to you, and for that I apologize.
I sincerely promise to be better and to do better in the future. This has been a lesson to me to {show empathy/think before speaking/etc.}. I hope you can forgive me and that we can move past my mistake.
Sincerely,
{Sender}
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