Is it a bad idea to speak to someone who you ended on a bad note with?

There is this girl that I kind of hung out with a few times last year. She was interested in me romantically, but I wasn’t in a good place at the time and we ended up on relatively awful terms.

I still think about her from time to time as she was a nice person and I never really got to know her as well as I wanted to.

Do you think that it’s a bad idea to try and re-connect just because I don’t like the idea that things went so badly?

We could have had a good friendship, and a good friendship may be possible now- but I’m wondering if I should just let it go and accept that past mishap.