This seems logically incoherent to me. Maybe I’m reading it wrong. But anyway here’s my version:

Avoid making mistakes that harm others. Be aware that you will make some anyway, and you won’t always recognise them as mistakes at the time. (If you take pride in having a spotless record, you’re liable to deceive yourself.) And when, on reflection, you realise you have harmed someone by mistake, figure out what you can do to 1) fix the harm and 2) prevent it happening again. And then tell them this plan in a way that commits you to it. That’s an apology. This way you make fewer and fewer harmful mistakes over time. The idea that someone can just “avoid mistakes in the first place” to avoid needing to apologise is dangerously lacking in humility, in my opinion.