No. They have been entirely consistent.
H&M wanted to serve and do charity work from the start and made that clear.
The RF were too hide bound to work with them so they could do royal duties and some private projects so they decided to leave the country. They kept up their charity projects during that time and are doing the same now they are back.
This whole half-in and half-out objection is all nonsense if you ask me. H&M were just more honest about it.
Of course Charles and William are “above all of that sort of thing” because they benefit from the income from the Duchies which each make around £21 million in profit a year. The Duchies are in fact corporations but are not taxed as such.
Yes some members of the RF work hard but none of them work that hard. They cluster their appearances together eg Trooping the Colour, Ascot, garden parties and then have long, long weeks away on holiday in between appearances.
And they receive massive perks eg chauffeurs, maids, cleaning staff, chefs, personal doctors, stylists, a huge number of homes if you are the main players, admin staff, couture clothes. They receive special deals from the firms who work with them via the royal warrant scheme eg Range Rover and Fortnums and many more. If that’s not half in and half out, I don’t know what is?