Indeed. My reading is primarily that Jobs and Woz had an internal battle over the hackability of the Apple II and that Woz won out (as far as I'm aware, for unspecified reasons). Subsequent projects (Mac) have not followed the same pattern.
RMS's gripe with Jobs seems to be that he played a very active role in transforming computing from an open, academic activity based on information sharing to a completely proprietary profit center.
In the early 80s, some openness was expected. Releasing a computer without expansion slots then is like releasing a phone where you can't even replace your own battery now.