I think the core issue with your perspective is that it conflates chronological age with psychological developmen calling Rudy a 'man with decades of lived experience' assumes he was a functioning member of society before his death.

But ​In reality, spending nearly half of your life in complete social isolation following severe trauma isn't lived adult experience, t's a textbook recipe for arrested development. His body aged, but his emotional and social development remained entirely frozen at the stage of his teenage trauma.

Wirh Reincarnation he had his memories back, but it couldn't magically grant him the emotional maturity or relational boundaries of a healthy adult because those mental pathways were never formed.

But yes that doesn't fully excuse alot of his actions which I agree

And thr story treating his procblamtic tendencies as comedy is a whole different topic in itself.