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FTR Jamie is a very different character in the books.... he certainly grows and becomes more sympathetic as the book story moves along.
Also IIRC the last you hear of Jamie in the books, Brienne shows up where he is camped outside Riverrun and then they disappear together.
I think Cersei hears this from someone as she is either in captivity or awaiting her trial.
I got the feeling Martin wasn't steering Jamie as a character towards simply returning and going back to being the same old Jamie banging his sister.
Yes agreed he is slightly different in the books although I would still say it's not a matter of growth but simply which aspect of his personality is being presented. In short, Jaime is chivalrous in general but a coward/impotent when it comes to his family and sister in particular. He's been that way from the start and nothing has really changed. Away from his sister, you see the chivalry come out more but once he is back around his sister, the cowardice and impotence returns.
There is no real growth there until he grows the balls to stand up to his sister which remains to be seen.