I'm not against an apology at all. You can be sorry that something you did unintentionally hurt someone, without necessarily being sorry for what you did.

I am just against the sentiment in the comments that is telling OP that they must change who they are as a person. Some people out here expecting OP to walk on egg shells 24/7 because someone might take offence to something you say. That's not how I want to live.

Personally, I would just apologise for any unintended offence, and keep on moving. As long as there was no malicious intent it shouldn't need more than a conversation to get friends back on the same page.