Peter Still follows a superheroic Peking order in the community and isn't set in the hierarchy as a self independent force like Stark, Reed or Xavier are. He literally lives in a co dependant society where he follows the law and operates under cover from public eyes, that doesn't mean hes not free to work as he sees fit without the Avengers or SHIELD being aware on what he does. Peter can't be self sufficient if hes not rich or extreme powerful, and hes been put out as s wild card on the spot for official heroes to put him out of the way temporarily cuz hes not a sponsored hero.
Nowadays, hes aligned with the Avengers and hes set his independence aside to work with others recently.