Does Rudeus get over being a creep?

I started Mushoku Tensei recently, and I do think the plot is pretty good so far. The magic system is interesting and the animation is gorgeous. The only thing is that Rudeus is such an awful person that it ruins the show. As a victim of CSA, having it depicted as a gag makes me feel physically ill. I’m aware that this is a show about self improvement, so I wanted to ask if there’s any character development in terms of him being a creep. I would still like to have an open mind but I don’t think I’ll be able to finish it without the reassurance that he becomes a better person and reflects on his actions.