It seems that they helped each other in fairytale land just as they are here. They did deals with each other. And Rumpel knows nothing about Belle so i don’t think be blames the queen for that. If anything we know he blames Belle’s father for that. So Rumpel and the Queen’s relationship seems the same as it was in fairytale land. The two of them work together when it suits their purposes. I don’t think that the Queen could have done anything to free Rumpel from the dungeon cave.
I don’t think that Rumpel’s plan has to do with the Queen. I think it has something to do with being free from the curse and maybe getting rid of magic all together or maybe just dying.
I don’t think that Gold and Emma made a plan that we didn’t see because Mary already had the key in her hand before Emma went to look for Gold and speak to him about helping her. So the key had already been planted at that time. Rumpel had already made the deal with Regina at that time.