Your cited source is not really a good view of the situation. He did not reverse his position at all on the Minsky/Epstein issue (and the article quotes Stallman doubling down on this, saying he's resigning over "a series of misunderstandings and mischaracterizations" of himself), and he was re-instated at the FSF without ever providing a meaningful apology or a reversal of any of his problematic positions. Following his reinstatement he has continued to maintain and advocate for problematic political views regarding sexual assault, and he has never meaningfully retracted his views on child sexual abuse or apologized for anything he has ever said.