And yet Andrew, the "git", nor Charles, nor Margaret, nor anyone else faced formal complaints of bullying that were published at a very convenient time as a form of preemptive attack.
A google search will show you that there have been a number of employment tribunal cases against either Royal family members or, more commonly, their households over the years, so clearly people have been making complaints internally.
The process is that an employee (it does not have to be the victim, by the way) files a grievance internally, the grievance is considered and a decision reached. If the complainant is not satisfied with the outcome, only then can they take a case to the Tribunal. These matters only becomes public once it reaches Tribunal stage.
So in short, we have no way of knowing if there have been complaints against Charles or Andrew (or anyone else) that have been investigated and resolved without the need for an appeal to the Tribunal. I doubt very much Princess Margaret would be a useful comparison - she’s been dead for 20 years and was in ill health for much of the decade before that, and employment law has evolved considerably in that time.
And, before you say “Well why was the complaint against Meghan publicised when others are confidential”, in this case it’s because absolutely nothing was done when it was filed. The employees were therefore blowing the whistle that the Palace was not meeting its employment law obligations.
A more interesting question might be why the Palace did nothing when faced with the complaint against Meghan. We know they have a functioning HR process because other cases have been through it and then have been appealed to the Tribunal.