No, it needs to be blown to actual proportion. It's not a misstep; it was deliberate, and they thought they could get away with it. It's not about the privacy, it's about the trust.
At least Canonical was open about it, but yeah, I'm not a fan of that move either. Firefox's telemetry is annoying but minimal and again well-disclosed, and Google default, idc. There's a search engine setting for a reason.
That's pretty bad. I wouldn't trust Brave after that. Firefox only collects telemetry if you opt-in. They also encrypt your synced data before collecting so it's not shadily analyzing your browsing history, bookmarks, and address book in order to serve ads.
So Brave is not trust worth because for like 2 weeks/1 month they referred some ads to their own ads, but you will continue to use Apple, Google, Facebook, Amazon, Microsoft, Spotify, YouTube, Roku, eBay..etc that actually tell you in your face we did and will continue to breach your privacy and collect data on you? Thats some logic...
And yes Apple does collect your data, they tell you in your face, use Siri and will store your voice on our servers.

Apple’s hired contractors are listening to your recorded Siri conversations, too
Just like Alexa and Google Assistant

but Brave is the evil guy here for switching ads.