Robert Jobson, royal journalist and author of a new book Prince William At 40, reveals all about the Duke of Cambridge as he approaches a new decade; the experiences that have shaped him, his temperament, and his growing sense of destiny.
The panel also discusses Harry's equally strong sense of purpose, and the very different path he's taken.
Plus, we hear whether the Wessexes' tour of the Caribbean made the same mistakes as the Cambridges', and we celebrate two royal birthdays.
As well as Robert, this week Kate is joined by Sunday Times royal editor Roya Nikkhah and Hello! magazine's royal editor Emily Nash.