The right answer is to ask "Is what he produces as his role in life correct".
In this case, it's "Does he ensure that software has versions that are free in every sense of the word". And the answer is a hearty yes.
He doesn't mince words, spend time making what he says ambiguous because it's easier for people to accept through the filters of emotion, while losing the clinical clarity or any of the other mundane mediocrities that us more neurotypical types do.
In fact, what us neurotypicals do have is the mental flexibility to understand that when you engage with a neuroatypical, they will not behave in a fashion that's always comfortable with you, and adapt to working in a way that suits them more comfortably (we can adapt easily, they can't).
Which is why we have a set of laws. If they cross that boundary, then yep, they've been told objectively "Do not do this. I don't care if you don't understand, this is the consequence for doing this". And by and large, they remember and don't do a particular thing because they understand the consequence. And because most of the laws cover things that are rationally observable as detrimental, so are quite understandable by neuroatypical.
What this whole story is about is a group of neurotypical people with the ability to adapt and understand refusing to do so. In fact, they've invented most of the story against this person, taken things out of context, lied and manipulated. They're now very angry because the person without the ability to adapt isn't adapting, and not really apologising to them for not adapting, because they can't.
So, the real answer is to keep RMS in the board, use his extensive experience, and the very real benefits that his brain brings to the table. He's not the "great diplomat" or PR person, he's probably the most famous though, so people pay attention to him. And he's famous because of the very strength of his work, and the extent to which it's shaped the whole world. You can't magically make him un famous (rather than infamous), and to effectively sack someone because they're famous for doing great work that changes the world for the better seems to me to be.. Weird?