Prince Harry and Meghan Markle dropped a bombshell two years ago when they announced they were stepping down as senior royals.

Following several intense months, the pair released a statement revealing they planned to split their time between the UK and North America and would carve out "a progression new role in the institution" while becoming financially independent.

Days later, crunch talks were held in what became known as the Sandringham Summit between Harry, the Queen, Prince Charles and Prince William.

It led to the monarch accepting her grandson and his wife's decision to step back from the Firm and she said at the time: "Harry, Meghan and Archie will always be much loved members of my family."

The move brought an end to Meghan's short time as a royal that had started around 18 months earlier.

During this time, she was given the rare honour of carrying out a day of engagements with the Queen - and the pair travelled to Chester in June 2018.

They made their way to the northwest of England on the Royal Train and among their visits was attending opening the Mersey Gateway Bridge.

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.

On the day, the pair seemed in good spirits and were pictured smiling and laughing together.

And one expert noticed that during the day, Meghan made several subtle hand gestures that revealed her true feelings towards the monarch.

Body language expert Judi James said at the time: "It was clear from the Queen's congruent and very spontaneous-looking smiles that she was delighted to have her new granddaughter-in-law beside her on this visit.

"Meghan did appear rather nervous initially though, emerging coyly from the train and using some more tentative gesticulation than usual.

"Without new husband Prince Harry beside her to touch and hug her, there was a noticeable increase in Meghan's self-comforting self-touch and checking rituals, suggesting she is still quite in awe of her doting grandmother-in-law."

Since Harry and Meghan's move from the UK to America, their relationships with several royals appear to have cooled.

But the couple has had nothing but praise for Her Majesty and in June, they paid tribute to her by naming their daughter Lilibet - a pet name of the Queen.

Royal author Omid Scobie told Good Morning America last summer: "When it comes to that relationship with the Queen, it is as strong as ever.

"They have nothing but love for her. Of course, we saw them name their daughter after the Queen’s very nickname. So that really gives us an insight into that close relationship."