How was St. Peter's and Judas's situation different?

In Matthew 16:22-23, Peter rebukes Jesus and Jesus turned and said to Peter, “Get behind me, Satan! You are a stumbling block to me; you do not have in mind the concerns of God, but merely human concerns.” My question is this, Didn’t Judas have to betray Jesus for God’s plan to be complete and then why did the Lord say it would have been better that he had never been born? I assume there must be something that I’m missing. Possibly that Peter’s actions were from love for Christ and Judas motivations where guided by Satan?

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