Nicely put. He's finally finding his footing.
Life and relationships change. Harry's life changed dramatically in a short space of time. For a time he was tacked onto what his brother and sister-in-law did and I think that was a shame because he should have been carving out his own path. I suppose it is possible that the family knew that left to his own devices he would have headed towards independence and that's why he was included with William & Kate's Foundation and activities to hopefully curb those tendencies and keep him within the fold.
His choices led to him separating from the family business, and, as is not unusual in that situation, whatever the sort of business it is, the rest of the family who embrace the status quo was not pleased with his decision because they expected him to stay and help them and the feel he has let them down. I am not surprised he decided to leave, and part of me actually applauds him for it, but unfortunately he was not prepared for the consequences of it at all and didn't handle it very gracefully. I can understand him thinking that Charles and William are trapped in the BRF, because I agree with him, but it was not wise of him to say it to the world.
I doubt that his relationship with his father and brother will ever be the same, but that is not unusual when people grow and leave the safety of the nest and establish their own lives and family groups. People don't have to remain one big happy family and have the same relationship with parents and siblings as they had when they were young. Not all extended families are close, either.
I hope that in a few years he sorts things out and we see the happy, enthusiastic Harry we are used to, involved with Invictus and other worthy causes in a prominent and useful way, but also engaged in successful money-making enterprises to finance his family's lifestyle.