It would probably make a difference if you could tell her that you had severe anxiety about the city, and that you were being over-protective but didn't realize it at the time. That is quite different from a parent who sets rules just for the sake of isolating their children, and it sounds like perhaps your daughter felt she was being isolated, not protected.

And honestly to me your mistakes don't sound that bad. That sort of thing sounds like more typical parental mistakes. No parent is perfect and everyone has things they can look back on and go, "Well I know better now." It's not like you were being abusive or neglectful. Sounds like you were just the anxious, over-protective type. It's really not some horrible thing, just a part of being human.