Every year more than seven million people stroll the Broad Walk in Kensington Gardens, the north-south avenue that separates the private royal world of Kensington Palace from the public park that sprawls to the east. Until recently, few ever strayed beyond this western limit, the presence of a 2.4m-high spiky fence and thick shrubbery signalling the royal realm as clearly off-limits. And yet it was not. Since the 1920s, a large part of Kensington Palace has been open to the public - for those determined enough to find the entrance.
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