I agree with Madara's realusm and noble goals, however I believe in free will. Actions have consequneces, it's the universal law of cause and effect. At the end of the day those living in the IT are no better than those that are dead they're wouldn't essentially dead. Madara sama was better off exterminating humanity altogether if they're technically dead anyway. Although I don't blame him for it since he didn't know everything.
Sasuke found the balance and was right in that respect let them retain their free will and by him becominh their common enemy they'd voluntarily do the right thing. I think seeing BZ, gaining all the info only cemented his convictions.
If we look at it objectively Naruto and the Ashura incarnates are idealist hypocrites (generally speaking)in that respect. On the otherhand Indra and his incarnates are realists.