Hi June,
I can tell you that Richard was not baptised Rudgwick as I've checked the pr's. In fact there is no one by the name CRAGG on the index.
I'm in agreement with Andrea about the 1841 census. I don't know what 'MS' stands for but I don't think it's servant as a little lower on the page there is a young girl who is & it's written in the standard format, 'F S' Female Servant. The other females on the page who are obviously wives have a blank in the occupations column which causes me to think this Jane Cragg is not his wife, maybe as Andrea suggests she's an unmarried sister or a widowed sister-in-law as they are of about the same age. FreeBMD gives a death of a Jane CRAGG dec. Q 1850, Cuckfield (Bolney comes under this reg. district) but no age at death

From the 1851 census we have Richard with a dob of about 1769. There is a Richard CRAGG baptised Horsham 1/3/1768 s/o John & Jane, a likely candidate!
The 1851 also gives us a clue with the grandson he's living with, William Walder. This tells us that a daughter of his married a Walder;
Bolney, West Sussex, 6 Nov 1826:
Mary CRAGGJames WALDER, botp (B)
Witnesses: Jn C.; Keziah C.
The witnesses would be John CRAGG & Keziah CRAGG.
I found an LDS extracted entry for the baptism of Mary Ann CRAGG 9/3/1796 d/o Richard & Ann, Bolney. This would be one of the marriages mentioned by Andrea;
Horsham, West Sussex, 18 Feb 1794:
Richard CRAGG
Ann HERSEY, botp (B)
I think we must rule them out as I found Richard & Ann in Warnham in 1841 & he's a wheelwright, so that leaves Richard & Sarah.
Horsham, West Sussex, 20 Apr 1790:
Richard CRAGG
Sarah KILLICK, botp (lic)
Children:
Richard 6/8/1791 Horsham
William 2/6/1793 Horsham
Sarah 7/7/1799 Horsham.
I have looked through the Horsham pr's for Jane Cragg but no luck. Mind you, many of the pages are badly faded so she could be there

Also checked the marriage index for any CRAGG male marriage to a Jane, again no luck. So a bit of a mystery as to who she might be.
It looks as if Richard started off in Horsham but then went to Bolney where I would think his children were born.
Hope that's not confused,
jane