Being his brother, Faramir is able to make up for the failure of Boromir. Which he does fully. Boromir also atones by giving his life for Frodo's friends. He never gets a chance to apologise to Frodo, but the readers can tell that he is truly sorry and has made up for it as best he could.
Frodo is a very forgiving kind of guy, and even at the time he acknowledges that Boromir is not himself (or have I been movieised?). And half the reason for Frodo's going is to protect the rest of the Fellowship from temptation. I don't think he ever blames Boromir for his behaviour.
Denethor on the other hand is never redeemed. Luckily Faramir gets rescued.
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But Gwindor answered: 'The doom lies in yourself, not in your name'.
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