For example, if you burped at a social event. At the time, you were embarrassed, but looking back you may laugh at it. If you were humiliated then you generally wouldn't laugh about it, no matter how much time has passed.
Also, humiliated suggests that someone else did something to make you humiliated. For example, you may have wet yourself, so you were embarrassed. Then someone points it out to everyone and laughs at you, then you become humiliated.
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