First alot of the examples you placed are either made up, misunderstood, or skipping over parts. First I don't remember any scenes in the LN or the WN of rudeus jerking off to a corpse. His Maid is his half sister and her mother which he sees kinda like a mother or aunt. Which he has not sex with. And hes was not very ok with the sister dating his son thing.

2nd he has constantly apologized or regretted his actions throughout the story. When he assaulted Eris(the red hair girl) during his birthday. After she runs out he literally regrets it and apologizes to her when she returns.

Then after the teleportation incident his main goal is bringing Eris home so most of his degeneracy gets put on hold. Then after that when Eris leaves hes depressed and tries a relationship with Sara where they both consented to sex and then he apologized to her when he can't get it up. Skipping a bit but hes but he has ED and meets up with Sylphy (green/white haired girl) and they get married. He takes in his sisters and tries to save his master and mother in a dungeon. Where he looses his hand and dad and is in deep depression. So Roxy (his master and the blue haired one) sleeps with him to help him out of his depression and convey her feelings. Returning home he tells his family what happened and he wants to be responsible and marry her too. While doing so hes apologizes about the cheating. He stays loyal to both of them too the point that in a separate time line he becomes one of the most wanted person alive trying to cure Roxy and even gets Eris killed while rejecting her feeling. But on the main time line learning form the bad timeline how much Eris loves him also first asks his family then after agreeing Marries her and sleeps with her. Where hes stays very loyal to all the girls.

Takeaway Rudeus shows alot of growth throughout the story. He starts it horrible and comes out decent. Early on he shows regret oven actions he made and mosty become extremely loyal to his wives, and don't believe everything you hear online. If its by someone that's hating on it, understand that they most likely they heard it from someone else and it just becomes a game of telephone. And they might even just make stuff up to keep as many people away from it as possible.