From what I understand, Torygg had been High King long before this thing happened. He, from what people tell you, was all about the Empire, "The Empire this, and the Empire that". Torygg likely did sympathize with Ulfric's words, but Ulfric, who was a veteran of the Great War 30 years prior, was sick of talking, he wanted action. Torygg, as some say, would have been glad to listen to Ulfric and work with him, but Ulfric wanted none of it. How did Torygg become High King? Simple, the Moot agreed that he'd become High King. What could Ulfric do if the rest of the Jarls were for Torygg? But that was ages ago, likely even from before the Great War itself!
The duel is whatever you make of it. Some say it was fair and honored ancient traditions. Both men stood up, fought, and Torygg lost because he was weak. Others say it was straight up murder, that Ulfric "simply walked up to [him] and murdered him" with his voice. Stormcloaks believe it was fair combat. Imperials think it was murder.
I always assumed the civil war had been raging for months, and it had crawled to an absolute stalemate. The capture in Helgen was the biggest break the Imperials had in a long time.