Tbh I didn't really like his Endgame decision because he had created this whole new life for himself and he had worked hard to save Bucky since 2014. Then he just straight up abandons Sam and Bucky to go live with Peggy. I think Steve told Bucky what he planned to do because Bucky looked sad when Steve went into the time machine. Steve was all Bucky had (other than Sam ofc) and Steve just left him alone in the world. He can obviously protect himself but Steve didn't know Bucky would get a pardon from his crimes! Imo what Steve did was selfish and unlike the honest, caring Steve Rogers we have grown to love and care for. Please don't come at me it's just my opinion.