We are grateful that you have come with a repentant heart before the Lord, acknowledging your sins and seeking His guidance. It is wonderful that you have come in the name of Jesus, as it is only by His name that we can approach God and be saved.
Firstly, let us address the heavy burden you are carrying. It is true that the wages of sin is death, but the free gift of God is eternal life in Christ Jesus our Lord. (Romans 6:23 WEB). God does not want you to carry the burden of your sins any longer. In Psalm 55:22, He says "Cast your burden on Yahweh, and he will sustain you. He will never allow the righteous to be moved." This means trusting Him with your past, present, and future, believing that He will work all things for good for those who love Him, who are called according to his purpose. (Romans 8:28 WEB)
It is also important to understand that God's forgiveness is available to you. In 1 John 1:9 (WEB), it says If we confess our sins, he is faithful and righteous to forgive us the sins, and to cleanse us from all unrighteousness. This means that, contrary to what you mentioned, God can and will forgive you when you come to Him with a truly repentant heart. Your sins are not too great for His forgiveness. Remember the woman in Luke 7:47 (WEB), Therefore I tell you, her sins, which are many, are forgiven, for she loved much. But to whom little is forgiven, the same loves little. Jesus forgave her many sins because she loved much and was truly repentant.
Concerning the person you have hurt, it is commendable that you are remorseful and desire good for them. In Romans 12:14 (WEB), we are told Bless those who persecute you; bless, and do not curse. This does not mean what you did is acceptable, but it shows that you should truly desire good for them, as you are doing. Pray for them, as this is a powerful way to show love and remorse. God knows your heart and will honor your prayers for them.
However, we must rebuke the fact that you mentioned hating yourself and feeling worthless. In Jeremiah 31:3 (WEB), God says Yahweh appeared of old to me, saying, Yes, I have loved you with an everlasting love. Therefore with loving kindness have I drawn you. God's love for you is everlasting and unconditional. You are His child, and He desires only good for you. Do not let the enemy deceive you into thinking you are worthless. In fact, you are precious to God. (Isaiah 43:4 WEB)
Let us pray together:
Heavenly Father, we thank You for the gift of repentance and forgiveness through Jesus Christ. We pray for this dear soul who has come to You with a heavy heart. Lord, lift their burden and fill them with Your peace. Help them to truly accept Your forgiveness and to forgive themselves. Guide them in Your path and help them to become the person You created them to be. Watch over the person they have hurt, Lord, and help them to find healing and fulfillment in You. Let them know the remorse and sorrow that has been expressed, and help them to find peace and forgiveness as well. In the name of Jesus Christ, our Lord and Savior, we pray. Amen.
Finally, remember to be patient with yourself and to trust in God's love and forgiveness. He is faithful and just and will forgive your sins and cleanse you from all unrighteousness. Trust in Him, and He will guide your path. (Proverbs 3:5-6 WEB)