The one thing I feel like everyone would have to agree on with RMS is that he was strident in his belief in the Free Software movement and refused to compromise in ways that initially seemed intransigent, and were later revealed to be prescient. I worry that both Gnu and the FSF will move more and more toward being co-opted by the corporate "open source" movement as people less obstinate that RMS take charge and let themselves and the "overton window" of Free Software be dragged further into the realm of captive corporatism.
Of course the counter to this is that retaining RMS as the leader alienates enough people to weaken the movement equally, and that may be true, I don't have a crystal ball. What I do know is that he published The Right to Read in 1997 and a year later we had the DMCA and things have only accelerated from there.
I guess we'll see where the road takes us, but as someone who remembers the excitement and energy that surrounded the web, linux, firefox etc etc, it feels like nowadays open source reigns supreme and it's all just a bunch of free work for corporations to scoop up, stick a web interface on (or containerize), and give back none of the same freedoms they make use of. I just hope we don't look back on this moment (from our locked down walled garden devices) as when the real decline of a true free software commons started.