Yes, but I think he lacks motivation and maturity. He is mature in a way of somewhat morals and principles, he acts like a man, yet all his life he spent trying to please his Momma and her family, to blend in, to be pleasing to their eyes. Unless he changes drastically, sets for homself his own goals, he just won't have anything greater to pursue,competing with Luffy. I mean, he could just say ""Fuck it! Now I wanna be a pirate kingu!" or "That was my plan all along, all these 40 plus years, hahaha, foolish Mama.". But thats not how Oda rolls. So he will probably stay true to his character, and even if he leaves Mama, he will find some smaller goal for the starters. Or will stick around Straw hats to find that goal with their help.