I don’t think Charles is strong enough for the Queen to lean on. He looked a bit dodgy on his knees. The Dukes of Gloucester and Kent were very doddery.
The Duke of Kent has been in frail health for some years now and this has concerned the Queen. He did have a mild stroke 9 years ago. All in all he did well to attend today.
I think it will be the Queen's aim to "rehabilitate" Andrew as much as possible in the time she has left. She will seek to restore some or all of his honours etc.
Not sure how the rest of the RF or the general public will feel about that.