I had a pretty pivotal experience around this realization when I was in my late teens. A buddy of mine and I were driving around town running errands, and we ended up driving past this same woman a couple of times like miles apart. At one point, I rolled down my window and asked if she needed a ride. The look on her face broke part of me. She was terrified of me. I'd never been looked at like that before.
I was so nieve at that point in my life. It never even occurred to me how horrifying 2 guys you don't know rolling up and trying to get you in their car might be. Neither of had any bad intentions...it was hot as hell out, and we figured she'd been walking for miles at that point. But none of that matters...we were like clumsy giants destroying a village we wanted to visit because we never considered the fact that we were just too big.
I still feel bad when I think about it and that was 20 years ago.