I've read that rationale, and it's, well, I'm not going to say it's lying, but it's insincere. By the time it was written, they already settled on 16-bit alignment, and fetching (and then decoding) 16-bit aligned 32-bit instructions is either inefficient, or hard, or requires extra circuitry (or an instruction cache).
High performance RISC-V chips exist from Rivos, Ventana and others, and high performance variable length chips also exist in general (AMD, Intel). So in actual reality it increases complexity somewhat, but is not a problem.