The "insensitive words" seem the issue for me, from my reading of his emails, and referring to them as just that seems an understatement.
> The announcement [...] does injustice to Marvin Minsky. The injustice is the word "assaulting". The term "sexual assault" is so vague and slippery that it facilitates accusation inflation; [...] The accusation quoted is a clear example of inflation. The reference reports the claim that Minsky had sex with one of Epstein's harem. [...] The word "assault" presumes that he applied force [...] but the article says no such thing.
Yes the above words are insensitive (calling such accusations "vague and slippery" by definition does a massive injustice to anyone who's ever suffered such a fate), but much more objectively, they're also blindly or wilfully false. The article he links as a reference opens with the following words:
> A victim of billionaire Jeffrey Epstein testified that she was forced to have sex with MIT professor Marvin Minsky
There is no more direct contradiction of RMS' statements than the opening words of the article he links in his email. There's absolutely no question of his communication on this being appropriate.