Do you think Robert Dudley actually cared for Elizabeth?

Oh, 100%. 

I’m not going to give specific examples that lead me to believe this, as I don’t know of any off-hand (or I do, but articulation is something else), but the big thing to me the confirms that he did is that Elizabeth – someone incredibly suspicious and wary by nature– was so close to him, and did trust him implicitly. To me that says a lot. 

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