I, believe, Andrew loves her and she him. What they do to overcome the mess, who knows. They may always live on the fringes of one another. Also sad. As for Charles being a hypocrite, he is. He, financially, kept a mistress for many years, with lavish gifts, etc. There is plenty of money for what they want, if they like you.
I doubt he "kept" her. Gifts are one thing but Camilla wasn't ever financially dependent on Charles was she? That's a kept woman. On top of that Sarah Ferguson is not and never has been the woman on the side, she was front and center and has repeatedly made a spectacle of herself, whereas Camilla did not.