I think we could go further to say that only GOD can clear Guilt. It requires true forgiveness. The OT saints sacrifices only covered them for a year, but Jesus truly forgives our sins and erases guilt. This makes relationship with the Father possible, and thus impacting shame as well, as we understand our Identity and being In Christ.
1 John 1:9 addresses this. As we confess our sin, God forgives and cleanses from all unrighteousness (guilt) .