You will begin to heal when you start to let go of past mistakes, forgive those who have wronged you, and learn to forgive yourself for your mistakes.
I know a lot of fans obsess over the idea of Stiles "finally" getting a good night's sleep, on dereks chest, drooling all over the place, and derek being super smug and fond about it. BUT what about derek? he barely slept at all through 1st and 2nd season. What about Derek finally feeling SAFE enough to sleep, probably in stiles bed, and the sheriff can't even be mad like. "Stiles. I swear to god, wake him up and I will ground you for life" And stiles being offended bc why would he even do that?