Complex sentence: He claims this led to a breakthrough of sorts and the realization that he needs help as he is sad and needs a friend, and asks Aaron to come to the public lake by his house the next day to talk and to "give them closure".
Split into simpler sentences: He claims this led to a breakthrough of sorts, and to the realization that he needs help, as he is sad and needs a friend. There, Josef asks Aaron to come to the public lake by his house the next day to talk so that they could finally have "closure".