The whole Prince A VD Epstein thing is a complex issues of grooming, concent, money, power. It's not really as simple she said he said.
He definitely had sex with her, I think. But based on British law she was legal. If Andrew had come out and said, yes I shagged her but she was a pretty young girl and all over me, I thought she just wanted to get with a prince. I would believe it was just an innocent encounter in his mind. But he didn't do that, he's denied the whole thing saying he's never met her. Which makes me think he knew full well Epstein was grooming young girls for sex.
A lot of the time we don't know we are being groomed and abused until later. I don't think I really understood rape until I was in my 30s. Because no one had ever really explained it too me. Learning it definitely redefined some sexual encounters for me.
VD was young and enticed by money and a glamorous life. She went on to groom other girls into the life. You could say she fully concented and knew what she was getting into. Or you could say there was a power imbalance and she was taken advantage of in a way she didn't understand until later.
Based on Prince Andrew and the accusations against him, he seems like a dirty old sleese, but I'm not sure he's a criminal. VD was in a messed up situation but she did seem happy about it at the time, I guess the real issue is she didn't seek out that life. They found her and groomed her for it at a young age.