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Joan Rivers teased the royal family for decades, but thankfully, they were in on the joke. Rivers died at age 81, “surrounded by family and close friends ” at the time of her death Thursday. In a statement released to E! News Friday morning, Prince Charles and Camilla Parker-Bowles offered their condolences. A Clarence House spokesperson said, “The Prince of Wales and The Duchess of Cornwall are deeply saddened to hear of the death of Joan Rivers.” His Royal Highness, 65, added that the comedy icon “was an extraordinary woman with an original and indefatigable spirit, an unstoppable sense of humor and an enormous zest for life. She will be hugely missed and utterly irreplaceable.” Rivers was a guest at the couple’s wedding in 2005. She was one of four Americans on the guest list.

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