Lady Margaret Douglas was the only daughter of Margaret Tudor, making her a niece of Henry VIII on the Scottish-disinherited-side. Her parents had an acrimonious divorce which led to Margaret herself growing up mostly in England with various guardians. She was imprisoned five times, mostly in the Tower of London, but her ruthless scheming and family connections freed her every time. She wanted to be Queen, then amended her goal to see her son as King, then finally wound up being OK with her grandkids being King and/or Queen.
Recommend history reading: Luck of the Titanic by Stacey Lee / The Six (documentary)
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