With SpaceX and Tesla at least - it seems clear the answer is yes.
Admittedly, morals and values vary widely, along with the idea of "what is helping," but what Musk sells is transhumanist fantasy, technocracy, and a religion of surveillance and control by elite people.
If that's what you support then he's helping.
Yes space satellites will be used for surveillance, but you should be much more worried about your digital footprint than your physical one.
I dunno - there are people to be worried about as supervillains maybe. Musk doesn't seem like the worst of them.
You can argue with his values, but his impact... harder to do.
But just as the US managed to kill the electric car the first time, no actual social benefit of electric cars is accruing here in the US. Is that Tesla's fault? Somewhat.
At his core, Elon lives his values. I don't think they're socially motivated.
That said, GP comment is intellectually dishonest. It doesn't account for the negative externalities of his choices/politics that, as you correctly identify, are tied to his values.
People may hate Elon but not seeing the value his companies brought to general people is willfully misunderstanding it in this case. And of course, without Tesla where would the electric car market be? Only the Chinese would have good EVs while the US falls ever behind and continues to ban them as they do now.
It would be delusional to think that we won't all have BCI or similar chips in the next let say 30 years, I mean which human would want to be left out and have no incomes and no interconnected capacity? Working individuals will not have a real choice (with a few exceptions of course). Realistically we will control every device around us (and agents) with our mind in the next decade.
One thing he does provide is a large amount of jobs (directly & indirectly).
While it's certainly as valid as any other religion, I'm not signing up.