unintentionally

Q: My wife lives with our kids in our home country in the upper portion of the house while my parents and younger sisiter stay in the lower portion. I live in some other country. There were alot of conflicts between my wife and parents. One day, I asked my wife to stop going downstairs to avoid any further arguments. I threatened her by saying that if she goes down, our relation will be over without any intention of divorcing her. She asked me about going downstairs to use washroom to wash our baby which I allowed her. She went down, washed the baby and use one of the room to change the baby's diaper many times after that. When I went home, she sat many timmes with me downstairs. Things got normal after a few days and my wife made up with my parents. She also started going down to speak to them. However, she did not ask me before going down and I have no problem with that. Is there anything wrong we have done? 

Q: It is said in the sunnah that it is better to fall asleep on the right side, and that it is disadvised to sleep on the stomach because in the Hadith, it is said:

عَنْ أَبِي هُرَيْرَةَ، قَالَ : رَأَى رَسُولُ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ رَجُلًا مُضْطَجِعًا عَلَى بَطْنِهِ فَقَالَ : إِنَّ هَذِهِ ضِجْعَةٌ لَا يُحِبُّهَا اللَّهُ

Similarly, we hear that it is not advisable to sleep on the left side. Now, if someone starts to lie on the right side. Then, involuntarily during his sleeping, he turns on the left side, or puts himself on the stomatch, will she have the totality of the rewards or not? 

Q: I mistakenly took a gelatine capsule. I have made alot of taubah but am afraid that the effect of the haraam will fall onto me. It was completely unintended.

Q: If I mistakenly, unintentionally or forgetfully done something wrong to someone, something or myself will that count as a sin?

Q: If someone does or says something kufr or shirk due to lack of knowledge or ignorance or unintentionally, can he/she be excused or will it be recognized as kufr?