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,
William Herbert, 2nd Earl of Pembroke created Earl of Huntingdon. William had hoped to restore to his family the Earldom of Pembroke. Awarding lands in the south-west of England meant that Edward had moved the family influence out of Wales. A Yorkist, he married Mary Woodville, sister of the queen, Elizabeth Woodville, and they had one daughter, Elizabeth Herbert, 3rd Baroness Herbert. Herbert remained loyal to Richard III. After the rebellion of 1483 he received the post of Chief Justice of South Wales, which had been the Duke of Buckingham's. After his marriage to his second wife, Katherine, an illegitimate daughter of King Richard III of