However, Peter willingly and painstakingly explains himself. In the footnote on 11:1 it says "in matters of great concern the apostles did not act alone." Peter left in one paradigm and came back in another. The church in Jerusalem was holding him accountable to the paradigm of Jesus being the Jewish messiah. But God changed all that. Notice their response after Peter's explanation: "When they heard this, they had no further objections and praised God…"
Sometimes, willingly subjecting yourself to the scrutiny of others not only diffuses the situation but also brings them into God's plan for their lives.