Sarah Ferguson has been "cautiously" re-invited to join royal events, which expert Tom Quinn believes is due to the Queen "mellowing in her old age". Since her separation from Prince Andrew in 1992, Fergie has led a difficult relationship with her royal in-laws but has been spotted at Balmoral and Ascot in recent years.

       In the Channel 5 documentary 'When Fergie Met the Monarchy', narrator Glynis Barber explains that in recent years, there has been a "glimmer of hope" for Fergie.

       She explained: "After Prince William’s wedding, the Queen started cautiously inviting Sarah to some events."

       Royal author Tom Quinn said: "She’s occasionally invited to Balmoral, she’s been to Ascot.

       "I think the Queen is mellowing in her old age. I think very tentatively the Queen is saying ‘Look, we’re just going to try this but if you put a foot wrong, it will all stop again.'"

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       Sarah Ferguson was also invited to the royal wedding of Prince Harry and Meghan Markle in 2018 at St George's Chapel.

       She had previously been shunned from Prince William's wedding to Kate Middleton, due to her recent involvement in a pay-for-access scheme.

       During a recent interview, she said she didn't feel "worthy" to have been invited to their 2011 wedding and revealed that she went to Thailand to escape and "heal".

       Her relationship with the Royal Family initially became strained following her separation to Prince Andrew in 1992.

       In August of that year, images of Fergie sunbathing topless with American financier John Bryan kissing her toes were published by the British tabloids.

       The Queen and Prince Philip were reportedly furious and demanded that she leave the royal residence of Balmoral.

       She also came under scrutiny during the Nineties for her lavish lifestyle, which ultimately left her ￡2million in debt by 2010.

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       Since then, her relationship with the Royal Family has improved and she visited Balmoral in 2013 and has been seen with the Queen at the Ascot horse races.

       It has been reported that she will accompany Prince Andrew to Balmoral Castle in Scotland this summer to spend a few days with her former mother-in-law.

       The divorced couple enjoy a close relationship and reside together at Royal Lodge in Windsor.

       They have closely co-parented their two daughters, Princess Beatrice and Princess Eugenie and share a grandchild, August Philip Hawke Brooksbank.

       Sarah Ferguson and Prince Andrew will welcome their second grandchild this autumn, when Princess Beatrice gives birth to her first child.