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After years of affair rumors, Charles admitted to starting his romantic relationship with Camilla in 1986. Nonetheless, he and Diana didn’t divorce until 1996, a decade after the affair began. Camilla and Andrew divorced in 1995, and she started seeing Charles again privately. When Diana died from a car crash in 1997, they kept the relationship even hush-hush out of respect for her.
Source: https://www.distractify.com/p/why-didnt-charles-marry-camilla-in-the-first-place
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