"However, I see her and the Wessexes [Prince Edward and wife Sophie, Countess of Wessex] continuing to visit patronages and all under the reign of Charles like the Kents [the Queen's first cousin Prince Michael of Kent and his family] and Glouchesters [more of the Queen's cousins] have done under the Queen's reign - as non-working royals", she adds.
Epstein, a wealthy financier, died in prison in August in what the New York City coroner ruled as a suicide. "The Duke of York suggested he will take a step back from public life for the foreseeable future but the reality is he has been told it could be for a very, very long time, potentially forever".
The interview was recorded before Andrew's own BBC interview, which prompted him to stand down from public duties because of a backlash at the defence of his friendship with Epstein.
The Metropolitan Police's Murray said police reviewed its decision after Epstein's death and decided not to change policy.
"He knows what happened".
In the court filings, Maxwell and her attorney portray Giuffre as an unreliable narrator, pointing to errors in certain dates and figures she provided.
The hour-long episode, titled The Prince And The Epstein Scandal, is set to be screened on BBC1 on Monday evening.
An investigation by the Mail on Sunday claims Prince Andrew had conflicts of interest between his friend wealthy property developer David Rowland and his role as the UK's special representative for global trade and investment.
But Buckingham Palace denied her allegations in a statement to CNN on Monday.
Tonight's episode of Panorama will be Ms Giuffre's first major United Kingdom television interview since she claimed to have been sexually exploited by Andrew three times when she was a teenager.
In his recent Newsnight interview, Andrew claimed he had a medical condition in 2001, after suffering an overdose of adrenaline in the Falklands War when he was shot at, which meant he did not sweat.
Other claims from Roberts Giuffre include that "Madame" Ghislaine Maxwell procured her into becoming a "sex slave" for Epstein.
In repeated statements, the Duke of York has said the claims - which were struck from the record by a judge in United Kingdom legal proceedings in 2015 as being "immaterial and impertinent" - are "false and without foundation".
Queen Elizabeth II and Prince Charles.
"I think when it's all said and done, the monarchy will be Charles and his children and grandchildren".
"He is the most ugly dancer I've ever seen in my life", Mrs Giuffre said.
The palace also spoke out about the Duke of York's association with Jeffrey Epstein, stating: "The Duke of York unequivocally regrets his ill-judged association with Jeffrey Epstein".
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