He did. He said it at least three times. I also try to listen to his podcast whenever he addresses this topic and he continues to refer to full preterists as "them" and partial preterists as "we." I think what people really don't like about him are two things:
(1) He doesn't declare Don Preston, et al, to be non-believers. He draws the important distinction between full preterism and hyper-preterism (which is indeed damnable heresy). Many people who know better continue to conflate the two.
(2) Recognizing the Confessions do not include a consistent, comprehensive eschatological view (and offer a bare bones one that is not even 100% accepted by those who affirm them), he wants/hopes to build a consistent, comprehensive Biblical eschatology from the ground up, i.e. beginning with exegesis of the relevant Biblical texts rather than with the WCF. I probably give him more slack than most because eschatology is one of the remaining areas where we have such vast disagreement, and he is not afraid to point this out. I'm not afraid that such a project will eventually deny Christ's final return, final judgment, or bodily resurrection of the dead. Rather I look forward to it as not only confirming these but providing the correct textual bases for them.