He was neither senile nor on drugs ... he was a libertarian atheist (borderline anti-theist, IMO, certainly anti-religion) and it shows in his writing. In many respects, he seems to me to reject the idea of objective right and wrong. That is, with the usual libertarian atheist exception that belief in a supreme being or worship thereof is wrong.
RAH was a lifelong libertine, who mostly kept it out of his writing until Stranger in a Strange Land.
He was in poor health when he wrote I will fear no evil, and it was published with, I think, no editing. I read it when it was originally published in Galaxy magazine, and it was hard to get through. Wordy and tedious. His next novel was much better.
Yes, emphasis on "mostly" ... Revolt in 2100 was published in 1940 and pretty well shows his hand (Protestant fundamentalists itching to impose a theocracy).