Where I live we get the Royals in town reasonably frequently. My kids went to one of the central primary schools, so on a few occasions they were walked up to whatever event was going on to wave the flags etc. It was always fun for them, they were well looked after and they royals would seek out the little ones to talk to them. I've seen quite a few of them, never prince Charles though.
The Queen and Prince Philip - she is always very dutiful, busy doing the official business whilst Prince Philip stood in the background and chatted. They both make an effort to seek out the children and wave at them, which I think is lovely. Even at the end of their duties, as they are driving off, they are engaged with the crowds. I will always have a soft spot for Prince Philip, he doesn't get the best press but of all of the Royals, he is the one who I have found the most personable and engaging.
Wills and Kate - I knew they were coming to where I lived but knew it would be busy so couldn't be bothered to go. Was sat watching it on the news when I saw they were making a short visit to somewhere very close to my house. Threw my shoes on and walked to the end of my road and there was hardly anyone there. Kate and Wills got out of the car and Kate seemed very distracted and flustered, William had to nudge her to turn round and wave. About 2 days after this visit it was announced she was pregnant with George and was in hospital with hyperemesis, so it all made complete sense. She'd obviously been really ill and this was at the end of a long day of engagements, I still have complete sympathy for her.
Andrew. Vile. I've seen him on more than one occasion with police outriders, stopping traffic in an already congested city in rush hour to get to whatever event he was going to. Firstly I get all excited because you see the police motorbikes and think it's going to be someone "big" and then it's bloody Andrew. Secondly, I have no idea why he needs to have at least 3 cars in a procession with at least 6 police outriders (2 in front, 2 behind and 2 to clear the roads) to attend a private event ( I always google it ). He is not a major royal. He is inconveniencing everyone and it causes chaos.