Well the Walses have got the rest of their lives in front line service to make up for any "lazy" rep. If you know you are going to be in your job until either you or your spouse dies, I don't think taking the time to be present for your family (especially when your own parents weren't) is such a bad thing. I do think that, following the cancer diagnoses of both Charles and Catherine, that there has and will be a marked shift in urgency and frequency of activity on their parts; with them focusing their minds more on their roles and the people they are meeting and less on external critics and optics.
Peoples' reputations change if they step up and do good, and past reputations fade. Anne at a similar age to the Wales' was considered a rude, horsey frump. Now she's a national treasure and fashion icon. Charles was a tree hugging loon, boring fuddy duddy, and cheat. Now he's acknowledged as being a man way ahead of his times in terms of environmental stewardship and youth support through The Prince's/King's Trust, and most people accept that his marriage was complicated and fault lay on both sides, not just his; and his second wife, once reviled, has become very popular too. Edward and Sophie were also not popular in the late 80s/early 90s, but now are much admired.
The flip side of this is one time dashing war hero, Andrew, and one time most popular royal, Harry. It's becoming harder and harder to remember the times when they were beloved.