Ok clearly not clear enough in my op.
One thing I would say is a relationship is not binary in my mind, it's not either ok or not ok. It has a million colours of different strengths, and repairing is just another word for strengthening in my mind. So what I'm really asking is how people realise they are weakening their relationship with their children, and what they do to counteract that.
Regarding examples yes that would be handy. I think there are a few categories of when I need to apologise.
One would be just acknowledging when I knocked him when I picked something up or whatever. That takes 0.5 seconds for oops sorry and probably happens 2+ times a day. I'd call it a throwaway apology really.
Another would be I did something he didn't like or didn't give him time to listen, eg took his plate when he wanted to take it himself, or tidied up a toy into the"wrong" place. That's more like, sorry what did you want to do, do you want a quick cuddle? And the plate might still get taken. That usually happens 2+ times a day.
The big one would be I had my own triggers so I couldn't listen to him and those are the real battles, eg I think he needs the toilet/bath/clean teeth/get dressed more quickly, but he isn't doing it, and my own emotions come up.
Those are probably the important ones in my mind, because it's easy to justify as he deserved it because he needed to do it. But it could end up I'm talking to him in an angry voice, or I might impose an inappropriate consequence eg I'll leave him in the room unless he goes to the toilet. Or worst case I start physically dressing him or whatever the task is because I'm annoyed, not because it's the best thing for the situation.
That usually happens every day or two. And it's subtle because it's easy to blame him for my feelings and say it was necessary, but it's the most important one to repair as he can easily tell my actual feeling, and he feels it might threaten our relationship.