Earlier quoted context omitted.
It is pretty hypocritical though for Mr. Free Speech to fire people who have concerns rather than address those concerns in a civil dialogue. Musk likes to whinge about “censorship” amounting to banning a Twitter account but seems perfectly okay firing someone and removing their livelihood for speaking critically of him. Also retaliation is very much still illegal, not that it matters.
Freedom of speech does not mean being free of consequences. Much like you're free to offend, the other side is free to be offended and employment goes both ways. Firing someone because they fundamentally disagree on how the company should be run is not censorship, it's keeping only people who align with the direction you're headed.
Elon takes the “freedom from consequences” interpretation of free speech when it comes to his complaints about twitter and “cancel culture”, then turns around and effectively cancels these employees for speaking their mind.