NEW YORK — Prince Andrew and Jeffrey Epstein accuser Virginia Giuffre have settled a lawsuit alleging the British royal sexually abused her in the early 2000s, a new court filing revealed Tuesday. The terms of the settlement, revealed in Manhattan Federal Court, were not disclosed. Now 38, Giuffre had long maintained Andrew raped and sexually assaulted her when she was 17 and being trafficked worldwide for sex by Epstein. The settlement comes amida catastrophic period for Andrew. In January, Queen Elizabeth, his mother, stripped him of his military and royal duties and said Andrew would defend…