It is awesomely courageous of you, to reach out to your friends and be open about your condition/illness. This is the right way, I would say.
Problem is, even if it is more than evident to you, that you have told them everything and all their options and maybe you feel relieved about it - they are prone to forget everything during the times where everything is running smoothly and then cannot remember a word you explained them when something bad happens between you.
So, from what you told, I would say, you cannot do much more. Except being prepared and willing to repeatedly explain those things in the right moments. Be genuine about your feelings about what happened, if something happened. I think you are already, that is an invaluable feat! Also prepare them maybe that you can only apologize after the fact and this might not be a guarantee that it will never happen again.
But keep in mind:
After all, it is a mental illness. If someone is suffering under a certain condition, this is not done voluntarily. You are in a way innocent, but (severely) handicapped.
Someone else might break a leg and everybody around is in shock. He can apologize for being the "cause of trouble" later. But this also would not be a guarantee for it not happen again (could also happen to somebody else in the same group). It was a special situation, an accident. Nobody would demand to always wear protective gear afterwards to avoid having this happen ever again.
You are not numb to the feelings of others. On the contrary, you try to (overly) protect them from "you being a burden". But this is your subjective view on yourself. You have to allow the others to take responsibility for their feelings towards you in the way they think it is best for them. You do not need to find a way of behaving in a way that is best for them (this is like forcing yourself wearing protective gear or worse keeping a distance in the hopes that this will not happen again - this is like imposing a punishment on yourself just because you are you... that does not help anyone!). You need to find a way that is best for you. Rely on the fact that they will do the same for themselves.
Meaning, given some lashing out happened: The situation somehow dissolves, like both of you going home in distress. A day later you realize what happened and want to mend things and reach out to the other person (which alone deserves deepest respect for doing the first step!).
If the other is not ready yet, then you have to give more time. Respect the behavior of the others as you want your behavior be respected by them. If they agree on sorting things out, great, be there for them - if you also want/be able to! If they at some point decide, they can no longer stand the friendship to you, and you cannot do something against it (which also needs to be okay for you!), then ultimately you have to let them go their way.
Even if you will be devastated and sad and never want this to happen to you, that would be something you cannot prevent solely on your own. There need to be two willing to uphold the friendship. Sounds hard to realize and it is. So just try to embrace the thought step by step. In the end I think it makes things easier for you and your friends. Even if it means you lose some of them, others will stay at your side and ever so strongly.
To the point of bad remarks on BPD:
You can see this as a kind of accolade towards you (although with a bad taste of course). They are not seeing you as being of the same group as they make the remarks on. You can see it as them being ignorant towards you and also mean towards the others (which is valid!), which of course, increases your resentment against your friends and the wish to support the other BPD people - also in order to not have the feeling of denying yourself.
I would give the advise (if the situation permits, which I imagine to happen at some distance, not a physical engagement), observe your feelings in that moment, but try to keep yourself away of being the "justice police" in that situation. You do not need to scold them on the spot (except of course it takes on insulting dimensions). You can of course also make a remark about the behavior of your friends in that situation (idk, like "shut up" or "don't be mean" - should be in the same range of intensity as they used).
Rather, because I think you are a reflective person, give yourself the time to think things over and then seek a more quiet situation where you can talk about your feelings you observed in you, with your friends, or even in solo instead of the whole group. You do not have to deny anything and you are allowed to confront your friends with your feelings. But you should also chose the right moment and also be prepared to face their reactions.
I wish you all the best from the bottom of my heart!