Parents reaching out after 1 year no contact

This is a rant but I would also appreciate advice.

I've gone no contact with my parents for over a year now and it has been great. I never felt so free from expectations and judgement like in the past year. I decided to go no contact with them after going to therapy for the second time because I struggle with depression and all the stuff that happened in my childhood. My mother was especially cruel during my teenage years, always screaming at me for hours over the most trivial things and I just can't get over it, not when I just remember how cold and ruthless she always looked at me after making me cry. She just was psychologicaly abusive and left so much to unpack even after moving out 10 years ago. Now they reached out to my via a family member and sent me a voice memo with my mom crying, saying they miss me and love and they are sorry if they offended me somehow (I told them I go no contact because they couldn't respect my boundaries regarding them contacting because they were so pushy). And I'm just so angry, they are the reason I need to get therapy for damn second time and now they want forgiveness. And I also feel sad and guilty for making them feel so bad, because I don't want them to feel like it but I also know for sure I don't want to have contact with them. I'm not sure what to do and I would appreciate some words of encouragement from people who maybe went through the same situation.