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Well for example when Edward is absent Sophie is sat after the Princess Royal but at the event at the royal Albert Hall, Kate was sat ahead of Anne not after her which happens to Sophie.
Thanks, so within the same category (in this case the younger children of the monarch) the order seems to change but Catherine is still in the children of the heir category which in practice ranks higher than the 'younger children' of the monarch, so it makes sense that she remains seated at the same spot.
Theoretically it could be argued that Harry would be seated higher than Catherine if William isn't present but if I understand the order of precedence correctly (as explained by the Heraldica article) the wife of the eldest son ranks higher than his sister's but wifes of younger brother rank below the sisters. So, my interpretation would be that the wife of the eldest son (=heir) always ranks higher than any sibling or sibling-in-law.
So, if Charles, Andrew and Edward aren't present, Camilla should outrank Anne (which apparently is not the queen's practice, although it was the case for Diana) but any wifes of Andrew or Edward rank below Anne as she is the daughter. Had the queen had another daughter after Edward, let's call her princess Mary, this princess Mary would also outrank Sophie in this case.