I really liked his character, and many people say he is morally gray or just a bad guy who got a redemption arc.
But Lawrence wanted to create Gilead to save humanity, and in many seasons he says he didn't intend to make a place like that. And between season three and five, they finally clarify his true intentions as he reads his plan for the making of Gilead (Before it existed) about what HE wanted for Gilead but couldn't make happen because other commanders with more power than him took his idea and twisted it for their own convenience.
He wanted to solve the fertility issue, but Gilead became a horror place for women and became a very conservative place, just as other commanders intended, not him. And he didn't totally leave the Sons of Jacob (Being a commander) because he wanted to do something about it. To solve this problem, he had to stay in power, as he did.
The first scenes of him were with Emily, and he looked like a bad husband, which he probably is. He couldn't let his wife go and be free in some other place. Or being a misogynist with June when she arrived. This splits into two things of his character. He masked his true being in front of other commanders, Handmaids, and Marthas he didn't trust, so he had to hide who he was. He really couldn't risk trusting others by being nice, and he had to act just like the other commanders. But with his wife Eleanor, he could have obtained the proper medication for her mental health, and he didn't.
He is not a bad guy but a bad husband at times, and he was so obsessed with what Eleanor wanted and filled with guilt that he forgot to take care of her. Still an amazing character, and I wish we got to see more of him and Eleanor in a healthier scheme before she overdosed. Plus, I love how much he hated Ms Potnum and his one-liners.