Sarah Ferguson has finally lifted the lid on her unusual living arrangement with ex-husband, Prince Andrew, and explained how they co-parent together.
Fergie, 61, married the Queen's 'favourite son' in 1986, after reconnecting with her childhood friend at Royal Ascot the year before. However things didn't work out due to their busy schedule, and they split in 1991.
Andrew was a naval officer, meaning they only saw each other for 40 days a year in the first five years of their marriage.
But in a new piece for the Sunday Times, written ahead of the release of her novel Her Heart for a Compass, Sarah said: "We are very good co-parents together."
She also explains the couple's decision for Sarah to continue living at Andrew's home, Royal Lodge in Windsor, whenever she's in the UK.
She said: "I travel a lot and I’ve always been able to make wherever I am home. If I am staying in a hotel I have the same family photographs and scented candles around me.
"When I’m in the UK I’m lucky enough to stay at Royal Lodge. I wouldn’t call it my home as that would be presumptuous," she added.
Sarah called Andrew a "great man" in a recent interview with US TV show Good Morning America.
"He is a great man and [our wedding day] was the best day of my life," she said.
"I would do it all over again because he was a very good-looking sailor, but I fell in love with him and I think love conquers all."
In the Sunday Times piece, Sarah also opened up about her mental health and life as a grandmother following the birth of Princess Eugenie's son, August.
Love the royals? Sign up for the Mirror's daily newsletter to get all the latest news on the Queen, Charles, Kate, Wills, Meghan, Harry and the rest of The Firm. Click here to sign up.
She said little August "loves her energy" and enjoys watching her dress up in all her famous hats.
"And when I make helicopter noises — his grandmother is a pilot, after all," added Sarah, who was the first woman Royal to gain a private pilot's licence.
Fergie previously told PEOPLE: "When little August, my grandson, comes in to see me, and now it's slightly easier, I firstly look at my wonderful and beautiful daughter Eugenie and Jack.
"I am so proud of them as parents. I've known Jack for 10-12 years now, so he's like my son, he is my son-in-law, but he's like my son.
"I adore them both. To see Eugenie and Jack being beautiful parents of little August, I'm really proud."
She also spoke frankly about her battle with her mental health in The Sunday Times, admitting she sometimes finds it hard to manage, because she is so sensitive.
She explains how she has a therapist and relies on her friends, family and work to "keep her focused on what's important".
She added that she is "never complacent" about having been "the luckiest girl ever".
But with her openness about how sensitive she is, it's no surprise Sarah was hurt she was snubbed from Prince William and Kate's wedding a decade ago.
The royal wedding was watched by millions around the world, with the Duke and Duchess of Cambridge inviting 1,900 guests to the ceremony at Westminster Abbey in 2011.
But the Duchess of York, who was close friends with William's mother, the late Princess Diana, and had married Prince Andrew at the Abbey herself, was left off the list.
Andrew attended with Eugenie and Beatrice while a devastated Fergie fled to Thailand in a bid to escape her hurt.
"I was not invited, and I chose to go and be in Thailand in a place called Camelia and... the jungle embraced me," she told Oprah in an earlier sit-down chat.
"It was so difficult. I wanted to be there with my girls, and to be getting them dressed and to go as a family.
"And also, it was so hard because the last bride up that aisle was me."
And in a recent interview with Town and Country Magazine, Sarah said: "I didn’t think I was probably worthy to go to their wedding.
"I took myself to Thailand to be far away from it so that I could try and heal."
She also spoke highly of Prince Harry and Meghan Markle on Good Morning America, gushing that Diana would be "so proud" of her sons.
"I personally would never be able to judge another, so I just am not like that," she told the show.
"I wish Harry and Meghan so much happiness and I know that Diana would be so proud of her sons and their wives."
Sarah said Diana, who would have turned 60 last month, was "in her heart" and she would always love her.
"I always say it doesn't matter whether you get the love back or you don't get love back or she's here or she's not here, you can love anyway and keep the kindness," she said.
"I loved Diana and I will always love her even if she isn’t here in person. It’s a really lovely thing to have."
Sarah also remarked on her ability to "evolve" and overcome personal challenges, reinventing herself time and time again.
"I'm 61. I'm just starting my life," she smiled.
Do you have a story to share? Email webfeatures@trinitymirror.com