I don't mean a good grovel because of infidelity or some relationship-ending mistake, which I know there's plenty of in HR. I'm thinking more specifically of some scene where the hero must recognize that he has made a mistake or he's been underestimating the heroine, and respects her better for it. Bonus points if he's arrogant or thinks of the heroine as foolish and sheltered, but it becomes clear it's the other way around.
I'm thinking specifically of a scene in {Kiss Me, Annabel by Eloisa James}, where the MMC tricks the FMC (who is terrified of living in poverty after have been her father's steward more or less for many years) into believing they are stranded in the countryside and they have to live in a crofter's cottage and do their chores. He thinks this will be a fun lark and show her there's nothing to fear, except it's him who discovers that living in poverty sucks, her fears are well-founded, and he stops thinking of her a spoiled young girl but respects what she's been through and admits that he's wrong.
I'm good with any historical era and setting, as well as queer romances. I would prefer to avoid second-chance romances though.
ETA: Thank you for all the recommendations! My TBR now overflowing even more than usual 😭