@artist439: Hi! I’ve got good news and bad news. Good news first - I’m glad you found the senior program to help, but basically, if you happen to fall, whatever position, roll onto your back, then twist body so it rests sideways on your hip, then brace with both hands and your toes (sort of downward dog yoga position) and slowly push up. That should get you standing wthout having to stress your knees.
Regarding kneeling: yes, it is possible to do. I can. But not comfortable, and really painful if it’s the forward-leaning kneeling, as in reaching forward while on your knees. I have no natural padding, and haven’t found any knee pad yet that would work for me. For indoor chores I use a small pillow for the few instances when I can’t avoid kneeling, outdoors (yard work) it’s either kneeling on the good knee, TKR one bent (bad for my back), or, space permitting, just plop myself down into a sitting position to plant/weed/trim low lying things.
Not sure if any of this helps, and I wish you success with the getting-up technique(s).