It doesn’t matter what we think or feel how things need to be handled at a work place. If one needs to keep a job to pay bills, one has to follow work policies regardless how one feels about it. It doesn’t have to be HR, whoever is designated for that role in a particular company.

Yes HR protects company’s interests. It’s in company’s interests from a legal stand point and other stand points etc that employees don’t feel uncomfortable as it could cause all kind of troubles for the workplace. That’s why issues as such have to be addressed according to work place policies. HR addressed the issue by explaining that even though OP isn’t in trouble he should avoid certain behaviors.

He is now aware and works with a therapist and focuses on his work task, which is applaudable.

Again what we think about how things should be addressed is irrelevant. This isn’t social club where people get to decide how to do things. It’s a workplace (sounds like a professional work place) where people have to follow specific policies regardless how they or others out there feel about said policies

Lastly, typically professional workplaces identify when you go to your boss, when you go to HR, when you email headquarters, when you call police etc etc so employees follow proper guidelines when addressing the issue. Doesn’t matter if it’s Becky the HR girl or Bob the Builder and how one feels about them