The very first thing that an agent should discuss with the client is the Agency Relationship and yes he should have had you sign an Agency Disclosure.
Having said that, Is there an issue with the condo or the contract?
If you bought the property you wanted and got it at a fair price I think it is academic at this point. I do not think you have anything to gain by raising the issue now, except to help others that might use this agent in the future.
What I find interesting is that the Broker did not catch this, because I have to submit every form to my broker, and if I don't believe me I will hear about it. Every broker gets audited by the Dept of RE and if something is missing they get fined, so most are pretty diligent about doing it right.