I found the video mostly accurate. Without nitpicking emphasis, the tension between orthodox Islam and sufism existed from
Mansoor Al-Hallaj was executed in 922 AD his statement “Anal al Haq.” ("I am the truth"). There's some dispute about whether or not that was the sole reason but it was what was used to convict him.
The notable role of Al-Ghazali had in making sufism acceptable to orthodox Muslims several hundred years after the founding of Islam is another part of the picture.
From the sufi perspective, there's a quote I quite like that illustrates the distinction between Islamic practice and what it means to have a murshid/guru/teacher. A sufi teacher should be one who has attained an advanced state of nearness to the Divine. Someone at this level understands the background and reason for shariat (formal religion) rules and a different way of looking at them when on the path (tariqat).