As its a Civil Case you can't be jailed, but it is interesting that she never complained to the Police, but it is doubtful she was a unwilling participant, as she has already received $500K off Epstein one can assume she was well advised, so it seems odd after all this time she goes for more dosh, rather than at the time of the alleged incident(s) it basically rests on her word against Andrews, as Ii assume there were no actual witnesses, to what actually occurred..
HMaj must be feeling dreadful. none of her kids have done any good, all have had marriage problems, except Edward, so nothing to shout about there, remember her "Annus Horriblis", but when you look back at history, most of the Royals have been misfits, except HMaj of course who has served this country and commonwealth with fervour and pride, as she swore to on her Coronation.