The problem with apologies is that they are often made without verifying a mutual understanding, such that the offended party is left wondering whether the kind of incident in question is likely to reoccur or not.
When someone says "I'm sorry", this is supposed to signal that the person in question understands that an action unintentionally wronged someone else, and that he or she will take great care not to cause a similar situation in the future. That's the social convention.
However, I find only saying or hearing "I'm sorry" quite pointless. This short statement does not provide any evidence that the action was unintentional, nor does it provide reassurance that the situation does not reoccur.
If I'm at the receiving end of "I'm sorry", I'd like to understand why the person acted in a way that caused the situation. There is no need for a long explanation, but hearing about the context from the other perspective in a few sentences allows me to assess whether the situation was (a) really unintended, and whether (b) the person has understood the mechanism that triggered the incident sufficiently to be able to minimise a recurrence. As needed, I can then elaborate how I feel, and how I believe a recurrence can be avoided.
Replacing a proper dialogue to establish mutual understanding by "I'm sorry" doesn't cut it. I usually assume people have good intentions, and I don't need to hear "I'm sorry" to be reassured of that. Instead, I worry about people not bothering with a little root cause analysis to learn from the incident.
If I unintentionally wronged someone, I want to know why and how. In case the root cause is not obvious to me, if I explicitly ask the question, people can interpret this as me disputing that I caused any issue. If I don't ask the question, there is a good chance of me making the same mistake again. Maybe "I am sorry" is what you say to indicate you are caught between a rock and a hard place.
Since mutual understanding between different neurotypes on any topic is very hard to achieve, the topic of apologies is a predictable source of friction.