"Forced" might not be the word you're seeking. "Expected" with a capital "E" or maybe "Expected" underlined. In fact this is the very very old structure underlying both Catholicism and Judaism, you can't "make things right with God until you make things right on earth."

So a child saying, "I did the wrong thing" or "Yeah, I know better," or a child being punished, doesn't really repair the world, does it? What repairs the world is acknowledging the harm you have done to the people you have harmed, while understanding that harm yourself.

We live in a world where our kids see adults refusing responsibility for the harm they cause. Whether it's the US President, local officials, too many clergy. Our kids see people happily pardoned for killing cops, getting off without consequences for blatantly lying, etc. Helping our children learn to apologize is a basic component of human morality, but when we bring our children to this point we also must help them learn that this is part of their learning to build a better world than the one they'll inherit.