Why do ADHD behaviors often get criticized by others?

Like say for instance a ADHD person does not hear or understand the first time around and you ask to repeat what was said for clarification, the person gets angry for you not hearing it the first time or misunderstanding what was said. It's not our fault that we can't always understand all the time or miss things you may have or not said but we missed them.
Why do ADHD behaviors often get criticized by others?
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