Where the Queen and the Duchess of Cambridge have failed to find common ground, it seems that Meghan, Duchess of Sussex, who joined the royal family when she married Prince Harry in May 2018, has created a bond with the Monarch through her more relaxed demeanour.
“With Meghan she would tread very carefully and do her best to make her feel at home.
“They have a love of dogs in common and Meghan knows how to make her laugh,” Ingrid revealed to the publication.
“The Queen has an acerbic wit and of course is an excellent mimic so she can be very entertaining – but she never forgets she is Queen even with her grandchildren,” she added.
According to the article, Queen Elizabeth II is close to her grandsons, Prince Harry and Prince William, although they don't see much of each other.
As for other members of the royal family, the Queen also enjoys the company of her granddaughter Zara Tindall and her husband Mike, who she caught up with at Royal Ascot earlier this month.
Zara and her brother Peter Phillips were the Queen's first grandchildren, so they will always be her "favourites", said Ingrid.