He wasn't arrested for raping an under age girl. I'm guessing because she didn't press charges and the alleged crime happened overseas where they are responsible for their own laws.
He is known to stay in contact with Jeffrey Epstine after he was exposed as a pedophile so he has been on the public radar for a few years. He claims he met up with him for honerable closure or something like that.
I always thought King Charles was the nicer of the two brothers, he is focused on his hobbies and his duties and doesn't seem to get involved in things like that. I was also given the impression that the former prince Andrew was often quite rude and arrogant around people. It's a good job Charles is the older one.