I’ve heard people sometimes say that it’s better to ask for forgiveness than for permission.
Forgiveness works best when you and the other person have a foundation of trust to do it on.
And someone once told me that forgiveness isn’t for the offender, it’s for the person doing the forgiving. Asking for forgiveness presumes we’re entitled to it.
Asking for permission can be a selfless act that builds trust, as opposed to selfishly spending trust on forgiveness.