Elizabeth Stafford, Countess of Sussex paternal aunt was Margaret Dayrell who was wife to James Tuchet, 7th Baron Audley. Her maternal uncles included (among others) Anthony Woodville, 2nd Earl Rivers, Richard Woodville, 3rd Earl Rivers and Lionel Woodville, Bishop of Salisbury. Her aunts included Elizabeth Woodville and Mary Woodville, married respectively to Edward IV of England and William Herbert, 2nd Earl of Pembroke. Her first cousins included (among others) John Tuchet, 8th Baron Audley, Thomas Grey, 1st Marquess of Dorset, Richard Grey, Elizabeth of York, Mary of York, Cecily of York, Edward V of England, Margaret of York, Richard of Shrewsbury, 1st Duke of York,
Elizabeth of York December 1483, in the cathedral of Rennes, Henry Tudor swore an oath promising to marry her and began planning an invasion. In 1484, Elizabeth of York and her sisters left Westminster Abbey and returned to court when Elizabeth Woodville was apparently reconciled with Richard III, which may – or may not – suggest that Elizabeth Woodville believed Richard III to be innocent of any possible role in the murder of her two sons (although this is unlikely owing to her involvement in Henry Tudor's failed invasion of October 1483). It was rumoured that Richard III intended to marry Elizabeth of