Queen succeeds King over old prince as he touches inappropriately (6)

I believe the answer is:

groper

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'he touches inappropriately' is the definition.
The definition suggests a singular noun which matches the answer.

'queen succeeds king over old prince' is the wordplay.
'queen' becomes 'ER' (abbreviation for Elizabeth Regina).
'succeeds' says to put letters next to each other (I've seen this in other clues).
'king' becomes 'GR' (short for Georgius Rex, King George in Latin).
'over old' becomes 'o' (common abbreviation eg in OE for Old English. I am not sure about the 'over' bit.).
'prince' becomes 'p' (abbreviation).
'gr'+'o'+'p'='grop'
'er' after 'grop' is 'GROPER'.

'as' acts as a link.

Can you help me to learn more?

(Other definitions for groper that I've seen before include "One casting about" , "fish" .)

I've seen this clue in The Independent.

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