Do I really understand people ?

Even though I am away from home from last 11 years, I feel that I don't understand people well. Agree that we learn from experiences but is it necessary that we should taste every experience? I always blame myself and try not hurt others but don't understand why people take me wrong. I do frustrate sometimes, but again invite myself into life. I remind myself a wonderful sentence from Robin Sharma's book "Run your own race".