First pass: 2x3÷2x=x2, and x2(2x+1)=2x3+x2; subtracting leaves −4x2+4x+1.
Second pass: −4x2÷2x=−2x, and −2x(2x+1)=−4x2−2x; subtracting leaves 6x+1. Third pass: 6x÷2x=3, and 3(2x+1)=6x+3; subtracting leaves −2.
2x3−3x2+4x+1=(2x+1)(x2−2x+3)−2
A negative remainder is perfectly legal: the condition is about degree, not sign. The remainder is −2.