Quite the contrary.
He had sex with Ygritt, but that didn't stop him from defending the NW's from the wildling attack.
And for leaving the NW's, he did want to go help Robb in the first place, but he followed the oath and stayed at Castle Black.
He was conlicted but still followed the Oath. He wanted to break it yes, but he didn't and nothing indicates that he would have without his death.
Now that he saved the wildlings and died for it, he has no more Oath to follow. He can freely end his internal conflict and try to get his family back together.