Yes, I do this. Usually when others think I am repeating, I'm not - I'm reiterating. I'm modifying what I said slightly, so that it better expresses what I mean. I take a little while to verbalize when I'm saying something that is important or when I want to be precise, so I often end up saying it more than once in order to refine it. Other times, I have to repeat myself in order to lend certain words or phrases more weight or redefine them.
With a friend recently, I said "these are very low numbers" and then "they are in the bottom one-third to one-fifth of the population." He said that I had repeated myself and he didn't need to hear it twice, and I - clueless as ever - rephrased them into one comment ("these numbers are so low that they are actually below eighty percent of the population") and, of course, was told off for having repeated myself a third time! Really, what I had meant to do was to sort of "eliminate" the first two repetitive comments by making one good one.
I also have echolalic tendencies, so I'll repeat a couple of words of my own occasionally, and often more than once, but usually when that occurs I'm repeating someone or something else.