Saw them many times since the Discipline tour. Most recently last September at the Beacon in NYC. It might have been the last US tour, although in a discussion with Fripp before the show, he eluded to perhaps a string of shows somewhere. They played in a Broadway theater for like 2 weeks in ~1996 (saw one), so I can imagine something like that. Said three members of the band are in their 70's and doing the tour bus thing was getting too difficult.
https://www.setlist.fm/setlist/king-crimson/2021/beacon-theatre-new-york-ny-3b8c207c.html