I think the RAF (i.e. specifically the Bader-Meinhof group) were idiots at best and ruthless at worst but public perception of the RAF tends to be heavily biased by a lack of historical context.

The Federal Republic of Germany used to hide behind the irrefutable cruelty and oppression of the German Democratic Republic to get away with disgusting levels of state repression well into the 1960s. After the end of WW2 both German states also rehabilitated a lot of former NSDAP members and restored their positions in public offices often wiping their records clean in mock trials. The modern examples of police repression in Lüzerath (which in Germany were mostly framed in favor of the police while international media often highlighted the excessive police violence) or the Stuttgart 21 protests (which even in German media were described as shocking police violence because the protestors were seen to be "average people" rather than activists) pale in comparison to what was normal at the time. Also, after WW2 the German communist party KPD had been banned on the flimsiest of legal justifications (which to this day are generally agreed to be bogus although there is no political interest in revising the ban from either side) - a fate that to this day has otherwise been reserved for NSDAP-offshoots. Germany has also been extremely slow to account for its past with trials of Nazi officers still happening a few years ago - many supposed criminals getting to die of old age before ever going to trial. The formation of the RAF can also directly be traced back to the murder of a student protestor by a police officer.

The RAF - correctly - identified the US as the source of West Germany's anti-communism and it saw the West German state as a capitalist project largely operated by the same people that operated the fascist project of Nazi Germany before it. Their initial targets were primarily NATO, the West German police, West German politicians and former NSDAP members.

They also targeted Axel Springer, a right-wing media mogul whose tabloids still routinely run afoul of media ethics rules and border on violating laws against demagoguery. They bombed the Axel Springer offices but this was clearly intended to be more about sending a message and disrupting infrastructure as they called in advance and made an explicit bomb threat - twice. The building was not evacuated. The "most ethical military of the world" still insists that this practice washes its hands clean of any casualties of the bombing following the advance warning, so make of that what you will.

In the end, most of the original RAF members died in prison. The initial investigations were flimsy and there are credible allegations of their findings being motivated more by politics than evidence. Based on more recent examples of investigations into deaths in prisons or police custody, I find it difficult to trust either side on this.

I think it's accurate to describe the RAF as terrorists. I don't think they did any good no matter what their intentions were. Even if you somehow can come up with ideological justifications for their actions, that falls apart with the second or third generation at the latest. But that doesn't mean their victims were the Good Guys. The narrativization of RAF terrorism at worst just provided an excuse not to reflect on what motivated them - and to what extent those problems still linger today.