have done it a few times during my playthrough.i never start fighting them (they always attack first),but once i have fought them and see all the dead people (who's home i inadvertently trespassed unintentionally

i do feel remorse about what i just did

i will repent by walking the 7000 steps to the throat of the world monastery.
I only encountered a home of an old woman in the beginning of the game, not a village just yet (Still in Riverwood, chopping woods to make some money for improvements for my armor. Preparing for the journey ahead) but what you say can happen to anyone.
But - when you see they are attacking you, and obviously these are townsfolk - couldn't you just run away from them in order not to hurt them, and then come back like a day after with your weapons sheathed?
I didn't do it, just trying to think about creative ways to not hurt innocent people for no reason.