...they always seem to be involved in morally ambiguous activities.
I don't think it's a spoiler to note that even the good guys on this show sometimes do morally ambiguous things. They just feel that they're doing it for a good reason. But then...doesn't everybody?
And the telepaths and their behavior, place in society and over all issues are in their current state because of how Earth chose to deal with them. It's an interesting arc and you can put the pieces of their trouble together but it is rarely directly focused on to the extent of the Shadows and Vorlons, or even Centauri court etiquette.
It takes a lot of going back and watching a lot of different episodes and characters to piece together the state of telepaths on Earth. Even then, there's a lot open to interpretation and speculation unless you want to take the Telepath trilogy of books into account. None the less, the telepath problem is an Earth created problem.