Jades often droop like that. I have seen jades with branches that actually hung down around the container to the point that it was almost hidden. You can prune it a bit, if you like, and more side branches will sprout on the stems that you cut back. Still, that won't make the main trunks any stronger, which just takes time. The leaves are thick and heavy, so will weigh down the thinner trunks. IMO, the nodal distances on your plant don't appear overly elongated, indicating a need for more light, but others may feel differently.
If you put your jade in brighter light, don't be concerned if the leaves turn a bit reddish. They're supposed to do that. And the cuttings root very easily. In fact, you can start a whole new plant from just a single leaf.
"Isn't it enough to see that a garden is beautiful without having to believe that there are fairies at the bottom of it too?" - Douglas Adams