I have improved over the years. I used to lose sleep as a teen for homework not being good enough etc. Now I don't worry too much but still there are niggles all the time.
For example I volunteered for a role and did my time and left and was made to feel guilty. Most people don't volunteer or care so now I am the bad guy when I did this for a couple of years. Or I worry I've made a joke and it's taken up the wrong way so it stops me from talking to people as much.
I accidentally split water one day on someone at work and still feel embarrassed
I wish I could just enjoy my life and not feel like this everyday. 
It doesnt help that my mother criticised me all my life and still does except I ignore and limit contact. I had a friend who often put me down in a covert way so she would feel better about herself. I just end up on my own with my thoughts then.