"I think we learned from what we probably felt was a mistake [with Russia]. I think looking back now in hindsight, we should probably have spoken out more."
He told Media Show presenter Ros Atkins that the monologue and subsequent discussions with fellow presenters such as former England women's player Alex Scott "was a decision by everyone in BBC Sport and these things are all thought through a lot, it wasn't just me".
He added: "Every country has different things and different developments, and there are different cultures and things are viewed in different ways. But the difference with this one was the corruption side of it. That was the difference for me, and that's why I felt it was important to stress it."
"The BBC always shows the opening ceremony of the Olympic Games, they never ever show the opening ceremony of football tournaments on BBC One. It's never been a thing, and so I think that's where people have got misled on this. They're not a big thing. It's like a 15-20 minute little thing that they do in the background."
When asked about Gary Neville's decision to work for Qatari broadcaster beIN Sports, Lineker said: "That's his personal decision. It's very easy to be judgmental... we're all so judgmental these days. I wouldn't have done it, no, and I haven't done it.
"But, you know, it's his life and he has to live it how he wants to live it and make the decisions that he wants to do."