I thought he was ok despite the racism. The Duke of Edinburgh Award helped many thousands and watching those old clips from the 50s and 60 he was quite forward-thinking for the day and he did have quite a sense of humour and that I'd never picked up on in his latter years.
The country does tend to go into full-on North Korea mode on big Royal occasions. So 99 and in quite good health for most of those 99 years is pretty good going for anyone.