The issue seemed to be more Peter Falk's disagreements with the producers, and I guess his co-stars in that episode got caught up in it. I seem to recall Eddie Albert calling him a Horses A$$ at some point.
I watched the episode several times in the years since I originally read that account and never saw anything out of the ordinary with how the actors portrayed their roles. Professionals, and maybe some good editing too.
Re: Is there an actor that Peter Falk really did not like?
That link won't work for me, but Peter Falk and Universal were having conflict because Peter wanted to do directing. On this film he stayed at home as much as possible and some shots were filmed with a double. Suzanne Pleshette said that Eddie Albert told Peter, "I always wanted to work with you, but you're a real a##hole". Her version anyway. She said at the time that she never wanted to speak to him again, and they had been friends for many years before that.