I'm certainly not putting the blame on Joseph, he seems to have suffered a lot despite having objectively been a good engineer. But lets not forget that we're all (mostly) at-will employees, there is nothing stopping us from getting up and leaving just right now. Personal responsibility is really important. Perhaps we should be teaching some of this stuff in high school? I don't know what the solution is IMO.
I've personally been in toxic situations as well. As soon as I realized my happiness delta was negative, I immediately started looking at other positions and switched.