I don't think that Frodo experienced guilt for his errors; any suffering he had after the quest is derrived, in my opinion, from wounds, or the impregnation of the ring. At the entrance of Sammath Naur, Frodo already finds peace after the ring's destruction, and I don't think he fell from that state.
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"May the wicked become good. May the good obtain peace. May the peaceful be freed from bonds. May the freed set others free."
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