Prince Andrew‘s ex-wife, Sarah Ferguson, has had a complicated relationship with the royal family over the years.

After the Duke and Duchess of York separated in 1992, she still remained close with the royals, even spending their summer holiday with them at Balmoral in Scotland. But one morning, while eating breakfast, members of the family saw Fergie splashed all over the front page of every newspaper and tabloid sunbathing topless with her feet in the mouth of a man who wasn’t Andrew.

That embarrassing incident became known as her “toe-sucking scandal.” It caused plenty of anger within the royal household and was something Prince Philip never forgave her for. Sarah and Prince Andrew’s divorce was finalized in 1996, and she was banished from royal life for several years.

In 2018 though, she began attending some events with the family such as the Royal Ascot, and it was reported that Queen Elizabeth II had forgiven Sarah. The duchess also began living at Royal Lodge in Windsor with her ex-husband and before the queen died, she made arrangements that her beloved corgis would live with Andrew and Sarah following her death.

Here’s more on that and what Fergie just said about the late queen communicating with her now.

How Sarah says the late queen is communicating with her

When Queen Elizabeth died on Sept. 8, 2022, a source confirmed to Newsweek that the pups would be moving into Royal Lodge with the Yorks and shared: “The corgis will return to live at Royal Lodge with the duke and duchess. It was the duchess who found the puppies that were gifted to Her Majesty by the duke.”

Sarah has spoken about caring for the pooches named Muick and Sandy in the past and at a Creative Women Forum networking event in London said she believes the late monarch communicates with her through the canines.

“Every morning, they [the dogs] come in and go ‘woof woof’ and all that and I’m sure it’s her talking to me,” she told director and women’s advocate Rebeca Riofrio per Express.

In years since the queen’s death, Sarah has always made it known how fond she was of Queen Elizabeth, saying: “I had the greatest honour to be her daughter-in-law. You know, that’s pretty huge.” And telling People: “She was so brilliant at putting you at ease. She had the most incredible faith of any single person I’ve ever met.”

The duchess told Queen Elizabeth that all she wanted was her ‘friendship’

Although it was towards the end of her life, Sarah did get that friendship with the queen that she wanted after divorcing Prince Andrew.

When it came time to negotiate a settlement for their divorce, the Duchess of York asked for Queen Elizabeth’s friendship and forgiveness.

“When I met with Her Majesty she asked, ‘What do you require, Sarah?’ and I said, ‘Your friendship,’” Fergie revealed. “I wanted to be able to say, ‘Her Majesty is my friend.’”

In 2022, a source explained, “The duchess bonded with Her Majesty over dog walking and riding horses, and even after her divorce, she would continue her great friendship with Her Majesty, by walking the dogs in Frogmore and chatting.”