But have they though, really.
Andrew hasn't got 'away' with it; it was the investigative media who showed the world what and who he was involved with, and Emily Maitliss, just allowed him to dig his own metaphorical grave.
The only times I see the word Prince Andrew it is proceeded by a variation of the word "disgraced" - rightly he's an outcast in his own family and has had zero opportunity to rehabilitate himself into public life as hard as he's tried.
Meanwhile; Harry has overshared his life, has been inconsistent with what he's said and has sold his side for a fortune - but his only story appears to be what's wrong with everyone else. It's not a good look, and to his family (not the rest of us) it is villainous.
I've met a number of people who have set up charities in memory of relatives who have died; and the one thing they have in common is that it stops them having to grieve, really grieve, the death of their loved one. Having worked in a hospice, having studied 'death and dying' in Uni (albeit 25 years ago) Harry has unresolved grief which really is dictating his behaviour now.
I've said it before, he needs out pity - his book is a cry for help really; he needs plenty of proper help to enable him to heal; until that he's going to continue to be eaten up by how and why his mum died.