I don't know if this is an issue for you, but I've read that jades can droop under lower light conditions.
I have one that was like this when I got it a couple of years ago. When my friend gave it to me it was sagging all over the place and staked within an inch of its life.
I pruned it, and have continued to do so every few months while it's in active growth (plus the "bonus" pruning done by my rowdy dogs). I also keep it slightly underpotted so its roots don't sit in moisture very long, and I give it a very sunny location.
It's doing very well and no longer needs any stakes.
And of course, you can make new baby jades from all those cuttings!