Yes. It does.
Or it is insincere.
Saying "im sorry" or never saying "im sorry" has expansive meanings and "sides"-
---
"My favorite mug is broken."
"Im sorry."
"Did you break it?"
"No."
"Then why apologize??!!!"
("I feel bad" is a better response)
I was reared in an "im sorry" said often environment. It was used to placate and move past someone's issue. A phrase that was never meant but effective.
I work now with a man that will always say (after hearing someone say im sorry), "Never say you're sorry. Its a sign of weakness." where i say im sorry to make others feel comfortable and to relate to complainers.
A sibling had and will never say she is sorry. It is like a commandment. Thou shall not ever apologize.
I do an im sorry test when i meet someone. Do they ever say that phrase?
There is no real simple answer "does it mean guilt" but my decades of experience say "Yes" more than "no"