Is it necessary to seek permission from someone with whom a past problem occurred, despite the relationship having returned to normal between the two parties, to avoid embarrassing him or being accused of ignorance by the speaker?

"Seeking absolution from the wronged is a religious obligation. Whoever has wronged his brother, whether in honor or property, must seek his absolution today before it is too late. If the wrongdoing pertains to honor, the principle is to seek forgiveness. However, if you fear a greater harm, then it suffices to supplicate for him and ask Allah to make him pleased with you, as Al-Ghazali stated. But if the wrongdoing pertains to property, it must be returned, even if indirectly. Among the conditions for repentance from a sin related to the rights of a human being is seeking absolution from them, whether by returning property, seeking pardon, or asking for forgiveness for backbiting. Do not let suspicions prevent you from seeking absolution and forgiveness."