The way that Charles and Edward MIGHT have become innocently caught up with, and involved with Epstein in the past, would not have been to do with Epstein's various perversions, but because Epstein appeared to have a talent for making vast amounts of money. Charles, before he was King, was always looking for ways to raise large amounts of money for his various charities - especially his beloved Prince's Trust. Remember, he once accepted a carrier bag filled with millions of pounds, or dollars, from an Arab Sheik?
Today it is considered that was illegal money that Charles had innocently collected for his charity, and that the money will have most likely been "laundered" from some extremely dubious business dealings elsewhere.