why do I feel guilty?

So I've been suffering from this problem for years and never found a solution

Basically I feel bad and guilty after every little incident , it's really hard to explain how but feel bad assuming that the person is feeling bad , I feel bad if I made a joke and later found out that it could hurt someone even if I'm sure they don't have a problem with it , I feel bad if I see someone being abused or bullied even if I help them , I feel bad after arguing with someone even if I apologize a million times and I I feel really bad and guilty if someone is embarrassed because of me even if I can't do anything about it , and worse I feel bad for seeing someone being abused and bullied in a film , a show or even a novel

The biggest problem is that I don't face this problem for a few hours or days after any accident , I keep feeling guilty after years and I never forget anything

I tried talking to some friends but no one seems to be facing the same problem and I also searched online and it seems like most people feel guilty after they do something not after seeing something

BTW I'm an 18yo dude so I don't really know if this will continue with me for my whole life or it'll go as I grow older

I also have some sort of social anxiety and I'm really shy and idk if has something to deal with this