Yes (see errata).
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Can a unit end its movement adjacent to a friendly unit?
Yes (see errata).
Do allied units block movement? Can you traverse allied units?
Allied units do not block movement (see errata).
Can the unit leader move through the other models of their own unit?
Yes.
There seem to be no restrictions on Charge movement, as long as your leader ends up engaged with the enemy unit. Am I allowed to not engage the closest enemy model at first? Am I allowed to not take the shortest path?
Yes, you can.
Is a unit allowed to engage in combat with multiple enemy units when it performs a charge or an assault, either by the leader’s movement or as a result of positioning maneuvers?
No. You must choose a single target when you charge or assault.