Prince William makes a rare mention of Prince Harry amid their ongoing rift.

In the new episode of Eugene Levy’s Apple TV+ series, The Reluctant Traveler, the Prince of Wales speaks candidly about his childhood, his family life with Kate Middleton and his royal destiny.

One personal question asked by Levy is how William, 43, feels about his eldest son, Prince George, 12, one day becoming king.

“It’s an interesting question, and it’s a big question, that one,” William replies. “Because there’s lots of things to think about with that.”

He continues, “Obviously, I want to create a world in which my son is proud of what we do, a world and a job that actually does impact people’s lives for the better. That is caveated with, I hope we don’t go back to some of the practices in the past, that Harry and I had to grow up with — and I’ll do everything I can to make sure we don’t regress in that situation.”

“I think it’s safe to say that change is on my agenda. Change for good,” William continues. “And I embrace that and I enjoy that change – I don’t fear it. That’s the bit that excites me, is the idea of being able to bring some change. Not overly radical change, but changes that I think that need to happen.”

Prince William and Prince Harry have been estranged for years. Their feud exploded into public view in 2020, when Harry and Meghan Markle stepped back from their royal duties. The divide deepened after the Duke and Duchess of Sussex’s 2021 interview with Oprah Winfrey, Netflix docuseries and Harry’s bestselling book — each delivering criticism of the royal family.

Robert Lacey, author of Battle of Brothers, recently told PEOPLE: “The rift is very profound and very long-lasting. It will not be changed, in my opinion, until Harry makes a move and apologizes.”

Added historian Amanda Foreman: “Everyone wants it to happen on their terms, but that’s what makes it impossible.”

Harry recently had a groundbreaking meeting with their father, King Charles, meeting in person for the first time in 19 months. A former royal aide told PEOPLE the reunion was “a massive step in the right direction.”

In The Reluctant Traveler, Prince William also recalls a childhood memory while showing Levy around Windsor Castle, calling St. George’s Hall “one of my favorite parts.”

“My cousins and I, and the family, would chase each other up and down here and do silly games,” he says. “I remember these carpets weren’t here, and there were a couple of spots where you used to have to watch out because you’d get massive splinters… It was a really dark, wooden, oak floor. So, when you went running off, you’d end up coming away and you’d have an enormous splinter.”

Levy’s also made a brief mention of William and Harry’s late mother, Princess Diana. Speaking to the Prince of Wales’ desire for his own children — Prince George, Princess Charlotte, 10, and Prince Louis, 7 — to have a “relatively normal homelife,” Levy asks if that started with Diana.

William replies, “Yes, definitely, I think it’s really important that that atmosphere is created at home. You have to have that warmth, that feeling of safety, security, love.”

“That all has to be there, and that was certainly part of my childhood,” he adds, though he admitted, “My parents got divorced at 8, so that lasted a short period of time.” (Charles and Diana announced a separation in 1992 before finalizing their divorce in 1996.)

“But you take that and you learn from it and you try and make sure you don’t do the same mistakes as your parents,” William notes. “I think we all try and do that, and I just want to do what’s best for my children, but I know that the drama and the stress when you’re small really affects you when you’re older.”