This was one of the worst reunion I have ever seen, after almost getting killed that is all he does? I understand that a hero would not torture her but c'mon, not even telling the truth to his buddy? Why destroying the parade then?
It make sense that the author decided to make it complicated and fast, this way the stupid princess will live, if the citizens discovered she kidnapped the hero and a normal person from another world and almost killed the hero, twice, she would get punished, the monarchy lying to the people could start a revolt too.
In short the author made a crappy reunion because the story couldn't keep the calm atmoshpere otherway.