It's hard to say whether it is a true friendship or not from what you write here.

What strikes me is how uncomfortable you feel when that guy is affectionate with someone. It feels like he is not allowed to kiss or be with another guy. Would you feel the same if he were into girls instead and he were kissing girls in front of you? His private life is his own stuff but your reaction is also not that of a 'true' friend. A true friend would accept their friend's sexuality.

What I see your friend doing 'wrong' was being rude while at dinner with your folks. But that is all that I see here. Does that mean he is a bad friend? Not necessarily. He probably also picked up on how you disapprove his wanting to be with other guys and is doing his own thing because of this. He knows you are not supportive and rather judgmental. So, it goes both ways.