Only if the brothers prove their loyalty to their father can they be restored to Joseph. And Joseph said to his brothers, 'I am Joseph. Joseph sees that his brothers have corrected their relationship to their father while he is still alive. Now his relationship with them can be restored. Repeatedly he assures them of his forgiveness.
Forgiveness is a great virtue.
Messiah teaches us to practice unconditional forgiveness because we have been forgiven unconditionally. Still, forgiveness without restoration can become shallow or inauthentic. Yeshua forgives, but demands a change of behavior. Joseph may have been ready to forgive his brothers as soon as he saw them, but restoration demanded that he hold them accountable for their past behavior. He will not forgive if they are still wronging their father.