Joel's actions in the end cement him as a hero.
There are two ideologies in the Last of Us. "Things happen for a reason" or "Things happen for no reason".
David believed that things happen for a reason and then used this to justify whatever actions he took, such as being a cannibal. David transferred his guilt away from his himself. He found Ellie for reason, it wasn't his fault he would kill or rape her, there was a greater reason than himself.
Joel believed that things just happen randomly, there's no reason for them. He wasn't able to justify murder and just explain away the things he had to do. He knew he was guilty for all the terrible things he had done. He carried the weight of them, by doing that he maintained his humanity.
David like Nazi soldiers, like suicide bombers, had chosen to believe things happen for reason beyond his control. All he can do is go along with it, feeling justified and guilt free because there is a reason, some reason that controls what happens.
In the end Ellie said, it all had to be for a reason, that so many people died. In this belief for a reason coupled with the guilt that everything was her fault she would kill herself. Joel saved her from her own naivety and from her guilt. He offered to take all her responsibility and guilt from her shoulders onto his own. That's why I think he's a hero.
He'll do anything to protect Ellie, he becomes her father by chose.
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