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You might want to look into Acceptance and Commitment Therapy and the idea of self esteem vs self acceptance.
We're often tacitly taught by society that our worth as a human being is derived from the things we do and the things we own. The self-esteem movement of the 1970s played into this. Parents and teachers were told to lavish children with praise to raise their self-esteem, but that actually created a generation of very timid and insecure people. Praise is conditional, even if it's unearned. If you tell a child that they're clever or pretty or good at drawing, you're teaching them that their worth as a human being is tied to those attributes. When you teach a child that praise is essential, you also teach them that criticism is intolerable.
The healthier, more sustainable approach is self acceptance - to tell your self that you are worthwhile even though, not that you are worthwhile because of. Even if you were a serial killer, your life would still have some value. You might have done a reprehensible thing, but that doesn't make you a reprehensible or irredeemable person. You can learn to separate the evaluation you make of your choices and actions from the evaluation you make of yourself as a whole person. Your value as a whole person is innate and unconditional, because you're the only you. There is no ideal you to compare yourself against, just the real you that actually exists, with all your foibles.
You can't change the past, so it's pointless to beat yourself up about actions that you've already taken. You can't accurately predict the future, so it's pointless to worry about what might happen. What matters is the present moment and making choices right now that are in line with your fundamental values. You don't have to be ecstatically happy every minute of the day to live a fulfilling life. You don't have to struggle against the thoughts and feelings that cause you to suffer, you can just carry them lightly and make the choices that matter to you.