As she is not a working royal, Zara usually only joins her family at the races or key events such as Trooping the Colour.
This has not stopped her forming close relationships with her family members however.
Analysing pictures for Express.co.uk, body language expert Judi James explained she seems particularly close with Prince Charles.
This can be seen even though the royals appear to have different personality traits, the expert claimed.
She said: “The body language dynamic between Zara and her uncle Charles has been giving joy for many years.
“If you were to place all the royals on some sliding scale of PDAs and tactile behaviour in public you’d see Charles close to one end as a rather hands-off, stuffy-looking kind of a guy while Zara would sit firmly at the other end as the most spontaneous and gloriously-gregarious-looking royal adult.”
Judi explained Zara is often tactile in public where this is not something Charles naturally is.
As well as being more “hands on”, Judi suggested Zara has looked almost protective of her uncle.
“Put the two together and you might expect Zara to tone her playfully affectionate rituals down with her uncle but instead she seems intent on cutting through any formal stuff by instigating some very dominant-looking hugs that seem to both surprise and delight the Prince,” the expert continued.
“[During one outing] Zara’s trick with Charles seems to be the neck embrace, which is both dominant, emphatic and escape-proof when she meets him.
“Here she keeps some torso distance but places a rather protective arm around his upper shoulders with her fingers touching his neck.”
Zara shows her affection more than Charles but the future King’s body language could still give a look into their “playful” relationship.
“Her more confident pose involves some leg-splay plus a hand in a fist-shape on her own waist and the elbow stuck out,” Judi added.
“Charles’s pose is more passive, with his hands clasped behind his back, but their eye-to-eye contact and head closeness signals an easy-going and playful relationship.”
At another outing, and before the coronavirus pandemic, Zara and Charles once again displayed their family affection for each other.
Judi stated Zara appeared to take the lead and looked to be the “dominant” one of the duo.
Prince Charles welcomed this which seemed to show their bond.
Judi concluded: “This pose shows Zara’s emphatically dominant, steering greeting ritual with her uncle.
“She with that arm placed around his shoulders and the hand clasping his neck.
“Her eye contact and pinging smile look like an invitation to join in the fun and Charles responds with what looks like a truncated reciprocal gesture, placing his arm out towards Zara’s waist but without touching her in a hug here.”