You should never have to apologize for something you have no control over. I would wake up and felt so embarrassed. But a lot of the people around me just wanted to make sure I was ok.

No You don’t have to. Just like Someone having a heart attack, etc. They don’t need to

You don't have to apologize, no. But you need to let the people around you know about your condition. If you are going to be working / hanging out / living with somebody you want to tell them. I have found that to be much, much better than have my boss and co-workers suddenly observe me have a seizure. When I come out of it they always look a little scared, which makes me feel guilty of something. Tell 'em first! 😉

The people that make you feel guilty for having an episode should be the one's who should apologize to you. Their ignorance ( not only in knowledge but lack of empathy) should be the one to apologize for making you feel as though you need to apologize to that person(s) for something that you can't control.
Bless us all for feeling guilty for our epilepsy when it's not a plan that none of us can control when we have an episode.

How much of what you did was on purpose? If the answer is none, don't worry about it.