Your plant doesn't look bad to me. It just looks like it may be shedding a bottom leaf or two. Mine is 10-12 inches tall and hasn't started to lean yet, but it is outside all year long. It has shed a few of the bottom leaves, tho. No pups for me, yet.

You can take a cutting to start a new plant. Let it callus, then pot it up for rooting. Don't water until roots develop. I haven't done this with Aloe ciliaris - yet - so hopefully someone will chime in with more specifics for you.

Your soil looks pretty heavy to me. For the long term benefit of all the plants, I would amend the soil to at least 50/50 with perlite. There are many soil recipes on this forum, so a search will give you some options.

Nice plants!