Thank you for the question! Summery is going at the start of the post because, holy hell, I made this so long😭
TLDR: Mike and Henry's relationship has lots (and I mean lots) of ups and downs. Henry doesn't blame Mike for Charlie, and he tries (and fails) to not blame him for Lucy's death either. He leaves Mike's life for a while (before Elizabeth's death) and eventually, they reunite before-ish fnaf sl would take place. From there, they form a father-son-ish bond (finally a good father figure) and work to take down William :]
At first, Mike and Henry really just knew each other through William. When Mike was younger, he always found it awkward to be around Henry. Henry tries his best to be nice with his business partner's kiddo, but he's kinda bad at it, lol. Real awkward 'n anti-social guy, Henry handles the business side of things and holes up in his office for a reason.
Charlie is weird like her dad. Charlie is just as unaware of social cues as Henry is, she just doesn't know you're "supposed" to mask that.
Mike and Charlie get along greatly. Mike gets to know Henry even more because of this, and eventually, Mike finds himself going off to the Emily household to escape his family more and more. Henry doesn't outright encourage this, but he also doesn't say Mike can't come over. Henry's definitely got his suspicions that something isn't right in the Afton family.
Charlie's death makes Mike avoid Henry more out of guilt, but after William attempts to frame Henry for his own daughters death, Mike can't help but show up at his doorstep more and more.
He finally can speak to another real, living person that William hurt, and he's so relieved. Finally, someone who can relate to him.
Mike ends up trauma dumping real bad one night (and in turn admitting what happened to Charlie) and Henry does his best to comfort him and process everything.
Their relationship is shaky after this, but eventually, things get better. Henry never blamed Mike for any of his father's actions to begin with, and he, of course, doesn't blame him for helping William with murder. Henry honestly assumes William would've just killed Mike if he didn't help, and tbh I don't think that's too far off. Henry is really bad at expressing this, though. Every time he tries to, he can't find the right words, or his throat gets so tight he can't breathe or a thousand other things.
Henry was finally able to tell Mike he doesn't blame him for anything. He had been planning to tell him at Lucy's birthday party, he'd assume Mike would be bored outta his mind there and that they could go idk sneak off back home.
Yeah see this doesn't happen.
Henry walks in on Lucy getting chomped.
Henry tries so, so, so hard to help Mike through this. He knows William won't comfort him in the slightest, but Mike sees through Henry very quickly. Somewhere, deep down, even if it's only a little bit, Henry blames Mike for the bite.
Come the opening of CBPW, and Mike has pushed Henry away entirely. He has no reason to stay in town after this, so he moves away to God knows where.
He moves away before the MCI. Thank God lol he can't handle more dead kids.
Henry doesn't even get to learn Elizabeth is dead or that the MCI happened until he meets Mike again before the events of SL.
Months pass. They live like a family.
Then Mike gets a call. It's William. He can save Elizabeth. All he has to do is go see her at CBEAR.
After Mike literally rots away in front of his very eyes after every shift, Henry is ready to do anything to stop William. (Mike is, too, once he gets that horrid metallic parasite out of his body.) Henry can't believe William would just lead Mike to death like that, and he honestly feels horrible he couldn't do more to protect him but tbh there isn't much he could've done anyway lol he's just blaming himself.
Uhhh, then fnaf 3 happens blah blah blah fnaf 6 everyone (except william) goes to heaven yay