Nope, Jesus has never made a single mistake.
We, however, ARE mistaken to think that Peter was infallible in areas of doctrine.
I think your statements contradict themselves or at least Jesus’ statements.
BTW, I think you misunderstand papal infallibility. It does not apply to Peter’s statement that Jesus rebukes him for.
If Jesus could not trust Peter with the keys, as you seem to be implying, then He made a mistake in doing so.