This may be Robinson's portrayal.
Robinson's insistence on the ideal in his heart is also the reason why he has such a strong power-strong willpower. In fact, Robinson's ideal has never changed. When he learned to get along with himself, he didn't turn his longing for adventure and freedom into laziness. His inner ambition has not actually faded away.
It is common for an adventurer to launch a vigorous revolution and put forward new ideas in his heart. Even with the growth of age, Robinson may change from a bohemian young man to a calm and rational middle-aged man. His hope for the ideal may be changing, but his essence has never changed. Youth is still middle age, yearning is still that yearning, and his ideal is finally so great.
However, the practitioners of this lofty ideal are always young people. Robinson has long been used to living with a single stomach on a desert island. Presumably, at first, he didn't want anyone to disturb his quiet and beautiful life, but from this, his heart that still yearns for adventure has nowhere to put it. He needs to find new sustenance for this. His dream doesn't have to be realized by himself. The young heart kept him dreaming and yearning for a long time, and the new "residents" on the island ignited his infinite fantasy about the outside world. To this end, he waited for 28 years.
Note: Robinson lived peacefully with life all his life. What he did is not only a manifestation of letting nature take its course, but also a manifestation of his persistence in ideals and willpower.
His persistence in ideals is reflected in every move of ordinary life. He tried again and again to explore the outside world with his own strength, but all ended in failure. Everything he has done and accumulated experience is a good foundation for it. He has been waiting, waiting for his chance.
Robinson can get used to "getting along with himself" without despair of being alone. In fact, there is nothing wrong with loneliness, because fear of loneliness makes it bad. Robinson never talks about how to eliminate loneliness in the long years, but how to respect and accept loneliness. In loneliness, he still insisted on his original heart, which is one of the reasons why he finally saw the world again and made a noise. On the contrary, it is precisely because he has such a normal heart and is not afraid of loneliness that he will turn loneliness into his own motivation in the long years.
Note: "There must be a suitable proportion or rhythm between silence and noise, loneliness and gregarious." Robinson is not the young man who "only knows how to live in peace with life" in some people's cognition. He just found his own rhythm in all the chaos.