He wasn't cleared. He just got a reduced sentence from 20 years to 5 years, and if Jake decided to catch Doug Judy, he wouldn't have been able to catch the Giggle Pig drug dealer. The video from the tropics was just him gloating and revealing that he had an escape plan all along.

Not in the slightest. The Mindy Project is still hilarious, and they've made the Danny/Mindy relationship work, in that they still have chemistry and are funny to watch