My husband is no longer young and immature (55) and still randomly slips up and can sometimes make me think he's responding to something in what I perceive to be a disrespectful way when all he's really doing is responding naturally as most any human who hadn't lived through multiple traumatic events would do. His memory and his filter breaks just like mine do some days.
He's never made me feel or expressed that anything was all my fault or accused me of simply being too sensitive (although I'm super highly sensitive to damn near everything), but I sure kept myself busy thinking it was all on me since I was the "broken" one with the incredibly troubled past and the diagnoses requiring treatment and ongoing help and such. I often wondered how someone could even stand to love me when I couldn't even stand myself most of the time and was quick to take on all that blame and shame and steadily added to it with each thought.
I didn't always give him much of a chance to even weigh in on the subject as my head and heart were already totally convinced they had it figured out and my only goal was to make things stop hurting, which usually meant to keep avoiding things at all costs. But once I allowed myself to openly go there, as needed in the moment, and explained how deeply and how badly those things hurt me, and why, each and every time, not just a one-time blanket statement or command, he became much more mindful, compassionate, and wanted to learn more.
I agree with putting things in writing as the emotional overwhelm of trying to discuss it without losing control of those emotions is tricky to say the least. Sharing it in writing prior to discussing it, and having it there with you while discussing it, highlighted, with notes in the margins, taking notes during, or whatever it takes, gives you both a chance to read and digest it all slowly and thoroughly so things can go much smoother the next time it happens, because it likely will happen again, very unintentionally, from what I've experienced. The human condition means we're going to continue to screw things up even when we don't mean to, and quite often in my case, especially when I don't mean to.
Now if he's being a real asshole about it, that's a deal breaker. But from what you explained, it doesn't sound like he is, at all. Purposeful and intentional hurt needs to be squashed, dealt with, and dismissed ASAP. Everything else can usually be handled with love, patience, and understanding, beginning with self, if we let it be. Hoping your heart can feel lighter and you two can feel closer. Sending an understanding hug from afar.