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Azalea caterpillar control in the larvae stage relatively easy. However, because the caterpillars feed in groups, they often completely defoliate a portion of a plant before they are discovered. Once the caterpillars are in the adult stage, they can be hand picked and destroyed easily. This is the ideal situation if you have a limited number of azaleas. Most azalea caterpillars can be shaken from the shrub and dumped into soapy water to kill.

Neem-oil is an organic control that must be applied frequently. A second option is to apply Bacillus thuringiensis or BT. BT is a bacterial pathogen widely used as a biological control of pest larvae. It is safe to humans, other animals, and plants when applied according to label instructions.

If you want to get blossoms the following year, you need to prune right after the blooms fade. If this is not a concern, you can prune anytime during spring, summer or fall. This article may help you if you have not read it:
https://www.gardeningknowhow.com/ornamental/shrubs/azalea/pruning-azaleas.htm

Is the plant in deep shade? It sounds like it may be leggy, perhaps due to a lack of sun. Pruning can help, but you may want to see if you can also get it a bit more sunlight.

If the stems are green, they can regrow their leaves.

It sounds as though the plant is lacking phosphorus. This would cause the plant to stop blooming. Add some phosphorus to the soil. This article will help: https://www.gardeningknowhow.com/garden-how-to/soil-fertilizers/phosphorus-plant-growth.htm

This artilce will help determine if there is a problem with your azalea: https://www.gardeningknowhow.com/ornamental/shrubs/azalea/common-azalea-problems.htm

The fungus is lichen and is not what is killing the plant. Lichen is especially attracted to plants that are unhealthy, so it is a symptom rather than a cause of the plants dying. What other symptoms do the plants have? We can identify what is killing the plant if we know that. This article will also give you some ideas: https://www.gardeningknowhow.com/ornamental/shrubs/azalea/common-azalea-problems.htm