Okay, I didn't remember a problem. I wonder what it is, though you are making a good point that even they may not know.
I hope that Josh understands why you left. Logically (his grandfather was not doing as well as he could have been.) it seems understandable to me, but I'm a lot older. Sometimes things feel differently when you are still young.
As I said, in your shoes I would have felt badly too, even though it couldn't be helped.
Yes, absolutely. It doesn't have to be a negative defining moment. It would be good if he lets you know how he feels. I always encourage opening up so that any misconceptions can be cleared up. I've seen some people remain upset about something for 30 years, literally, yet they didn't understand something which would have put their minds to rest decades earlier, had everyone understood their misconception about something.
Good luck. It's not easy, but I know that you are up to it.
Love All Life; Thank You For Posting! :)