Yeah I know what you mean. For me it also came as cringing because you feel like you somehow got away with something, like you wronged them somehow, even when you didn't actually do anything like that.

It is just a form of anxiety. I don't have a quick fix for it, but just growing older and having more and more experiences really dulled and lessened these moments for me. In the moment the most helpful thing I found was basically shutting myself up by deliberately thinking "I behaved fine/decent and if they really feel otherwise they would let me know". I think in general meditation and mindfulness practices can also help you with steering your attention away from negative "thought grooves" like these.