the way Steven Universe sticks hard to its Steven-only perspective can be frustrating, and I get why it's criticized, but the more I think about it the more that frustration feels intentional. the point of the show being structured that way IS to emphasize the frustration of a limited perspective where information is omitted until someone decides to tell you, or you personally seek it out.
so much of Steven Universe is about a child discovering firsthand that his guardians are complicated and flawed, and make huge mistakes and keep bombshell secrets, and having to deal with the fallout. sticking to Steven's perspective is vital to the impact of those events. we as the audience are meant to learn details as Steven learns them, to experience the drama and earth-shattering revelations through his eyes, because that's the point. it's not just about these things happening, it's about them happening specifically through the eyes of a child, and what that means for his relationships with the people involved. because children have limited perspective, and get lied to all the time. growing up often involves learning about major things in your life that were going on under your nose the whole time, that you didn't know about until someone decided to tell you. and it's frustrating! Steven's frustrated by his limited perspective too! it's not a meaningless oversight that the show is structured that way, it's part of the point. it's thematically relevant