I mean, everything you're saying is why I liked him when I first played the game. He was my favorite character for the longest time, and I even mained him in P4A. I'm hard on him because if I were friends with him in real life, the stuff he pulls wouldn't fly. The girls in P4 are certainly more aggressive; Chie's violence is unwarranted, and I mean Jesus, Yukiko, "studying" means "studying". That being said, the fact that karma comes back to bite him doesn't absolve Yosuke of the fact that he has put these girls in numerous situations that compromise their privacy to satisfy his own hormonal urges. In a game about seeing people for who they really are, Yosuke seems more focused on the superficial qualities of a woman (their ability to cook, what they look like in a swimsuit, etc) than how the people in question feel about his actions.

To his credit, I misremembered the scene at the Amagi Inn. It was actually Teddie's idea to sneak to the girls' room because there were creepy noises in the guys' room, and it was Kanji's idea to sleep next to the girls. Yosuke's pretty enthusiastic about the idea, but he doesn't actually act on it.

I think my biggest problem with Yosuke is more symptomatic with a problem I have with Persona 4 and 5 in general; the finer details of a party member's backstory (and their development) happen in a vacuum. Unlike WK, I LOVE Yosuke's S Link (still do, regardless of how I feel about him in the main game), but the Yosuke in the main story is so hit and miss for me. For every two cool things he does (he gives Teddie a home, that's like the nicest thing anyone does in that game), there's always something that casts him in an uglier light for me.