1- If reaching out to the mother and telling her that will upset her and turn her against you, then don’t do that. Ask Allah to forgive you, and then offer a good deed on her behalf so Allah fully forgives you.
2- If they don’t forgive you, Allah can still forgive you 100%. He will make them satisfied on the Day of Judgment such that they’ll forgive you. So if you truly repent Allah will forgive.
3- Do good deeds on behalf of all those whom you insulted then ask Allah to forgive you.
4- If it causes bad consequences then avoid it.
5- Do good deeds on their behalf.