By all accounts, he was a very nice man and it's great to have the most iconic voice of a icon be gay, shows queer kids you can still make it
He will be missed
According to Behind the Voice Actors, after 9/11 happened in 2001, he volunteered as a cook for the firefighters and rescue workers at Ground Zero. One person recognized him as the voice of Batman and he told everyone Batman was making dinner for them. People started asking him for autographs and it was the first time anyone had started to smile and laugh at Ground Zero.
He will be missed indeed, and may the Batsignal forever shine in his memory.