In fairness, Picard is extremely upfront and honest that he has broken the Prime Directive in situations where he’s felt it would be callous not to.
And he’s generally careful about trying to make sure that there is justification for breaking the Prime Directive before doing so.
He was particularly put out about being involved in Klingon political successsion because it would be a violation of the Prime Directive, and he’d be wading into Klingon business, with no justification for his being so, other than that he was appointed.