The incenter is defined as the center point of a triangle formed by all three angle bisectors.
An important characteristic of an incenter is that it is equidistant to each side.
To find angle ARU, we have to notice that RA is a bisector, so we can say

Therefore, the measure of angle ARU is 40°.
Additionally, side AU is equal to TA because they are equidistant to the incenter, by definition. So,

Therefore, side AU is 20 units long.
On the other hand, Angle QPA can be found with the expression

Since angle P is being bisected, so using the given expressions we have

We solve for x

So, angle QPA would be

Therefore, angle QPA is 35°.
At last, angle KQA would be half of angle Q due to the bisector QA. So, we can define the following

And,

Therefore, angle KQA is 15°.