I suppose you've already considered this idea, Joe, but I'm throwing it out there anyway, especially as I, too, was deprived of an opportunity to attend this past year and always appreciate anyone's good videos of things I have missed.
Have you tried suggesting to Mr. Frid (and/or his legal representatives) that in return for deleting the actual Richard III footage, but keeping the Q&A and handprint ceremony, you could make a donation to the charity of his choice from the proceeds (though I guess he would have to name the percentage)?
I don't know what you sell the DVDs for, but if it's an affordable loss to you (would this qualify for a tax deduction?), then you still get to sell your work, the fans can buy these mementoes, and Mr. Frid will have the satisfaction of helping whatever causes he still supports, as well as being generous and fair to people who have been loyal fans for over 40 years.
It would be win-win-win for all if it succeeded, but if not, at least then you could say you tried everything.