My jade plant is very droopy. I keep it in my southwest facing window and try to keep it behind a few other plants to get filtered sun. I water once a week (if I remember -- let's just say it's definitely not overwatered). I've had it for several years, I can't even remember when or where I got it at this point. Here's a picture so you can see. It's never grown up, only down.
It also has these weird, as I call them, "fractal jade" formations. Instead of growing up it just sort of branches out.
I have another jade plant that grows perfectly upright and "normal" looking, and I treat these two the same, so I'm not sure what gives.