Does Allah forgive disobedience to parents, especially if it occurred in the context of self-defense due to domestic violence?

If the act occurred before the age of puberty, there is no sin, due to the absence of legal accountability, as stated in the Hadith (definition): "The pen has been lifted from three." However, if it occurred after puberty, with awareness of the act, then it is a sin and a form of disobedience to parents. Sincere repentance is obligatory for it, along with increasing good deeds and striving to be dutiful to the father and supplicating for him.