I have read this topic : Why is the gauge potential $A_{\mu}$ in the Lie algebra of the gauge group $G$?
It explained why the potential is in the Lie algebra of the group. But there are things I still don't totally get in the global logic and I need your help with my "proofs" of it.
What I understood is that we want to build a derivative that will ensure us to have the following property :
$$ D_\mu (g \phi)=g D_\mu \phi $$
Where $g$ is in the group of symmetry of the theory.
Because as soon as we have this, we will be able to easily construct gauge invariant Lagrangians.
We know that :
$$ \partial_\mu(g(x) \phi(x))=[\partial_\mu g(x)] \phi(x) + g(x) [\partial_\mu \phi(x)] $$
So, in practice, what we want to do is to change our $\partial_\mu \rightarrow D_\mu $ such that we cancel the first term of the rhs above.
If I want to do this, I will then try with :
$$ D_\mu=\partial_\mu + A_\mu $$
Where $A_\mu$ is an operator that acts on $\phi$ but I don't know it is in the Lie algebra at this point.
Such that $ D_\mu (g \phi)=g D_\mu \phi $
Thus, what we need is :
$$A_\mu(g \phi)=g A_\mu \phi - (\partial_\mu g) \phi \tag{1}$$
And here start the things I don't totally get.
In practice we have to define two fields : $A$ and $A'$. But why couldn't we work with only one field $A$ that would follow $(1)$ ?
Is it because, if we try to use the same $A$ for all $\phi$ linked by the group transformation, we find that $(1)$ is a too strong condition. Then we "relax" it by saying that when $\phi$ changes, $A$ changes also. And that is why we have a transformation law for $A$ ?
Also, if I assume we have two different fields, then I would have :
$$A'_\mu(g \phi)=g A_\mu \phi - (\partial_\mu g) \phi$$ $$A'_\mu g =g A_\mu - (\partial_\mu g)$$ $$A'_\mu =g A_\mu g^{-1} - (\partial_\mu g) g^{-1}$$
And I know it is not the good sign on the second part of the rhs of last line. So there is a mistake in my logic somewhere, but I don't know where.
Remark : I know there is a close link with covariant derivative and differential geometry but I would like an answer really close to my formulation of the question. Else I think I would be lost. So if it is possible to avoid notion of differential geometry it would be very nice !