It should only take 2 turns - there's a special dispensation for going from Kneeling to Standing (or vice versa) as a Step.
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Originally Posted by B364
You can switch between kneeling and standing (only) as the “step” portion of any maneuver that allows a step – you don’t need Change Posture for that. This is instead of using the step to move. Thus, you could go from prone to kneeling with a Change Posture maneuver on one turn, and then stand up in place on your next turn by taking a maneuver that allows a step.
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So turn 1 - Change Posture: Lying to Kneeling
turn 2 - Step and Ready, using the Step to Stand from Kneeling.