FOSS and permissionlessness is all that matters. Anyone has the ability to exit by selling, swapping, or forking and no one can stop them. All funding that pushes Monero forward is by community support and all voluntary. There is no dev tax or premine.
Inability to hardfork, just like ability to upgrade, is a gift and a curse with it's own unique trade offs. You can't have your cake and eat it too.
If you want to talk centralization include all inconvenient aspects of it. BTC is centralized via a handful of Bitcoin Core developers/maintainers and the company Blockstream. That's why Blockstream pet projects like Lightning and Liquid are quickly given the greenlight and any other ideas outside their cabal flounder. Even BCH is better decentralized by node software and CHIP upgrade proposals in practice.