There's a lot wrong with Clark & part of that is his temperament as described above.
However, Clark didn't have anything significant to do with Waco. He was the 1st Cavalry Division commander at Fort Hood during the Branch Davidian stand-off at Waco and his assistant commander--then Brigadier General Pete Schoomaker (the newly anointed Army Chief of Staff) was tasked by the Army to provide some advice to DOJ on their Waco plan. The reason Schoomaker was tapped was because of his previous assignment as the Delta Force commander--it had nothing to do with Clark.