Q: "How do I get rid of guilt and stop beating myself up after I sin?"

After you mess up and realise you've done something wrong, the temptation is to become Judgy-Mc-Mufti Pants and start beating yourself up and drowning in guilt.

I say 'temptation', deliberately.

It is, indeed, your nafs (ego) that leads you down this dark, self-denigrating path of self-sabotage.

Most people never become aware of this fact and foolishly believe that they feel guilty because they sinned.