A long time lurker, I can finally contribute! I live not a million miles from Highgrove and Gatcombe.
The road isn't normally closed for KC to come back. I've driven down there this morning on my way to Cirencester and it's open.
Princess Anne, Zara, Mike and the children are all visible locally, no one bothers them. I've seen Princess Anne in Tescos twice! My children did summer school with the Tindalls, so I've had a couple of chats pitchside. Totally normal, no security, drive themselves (A few years ago, Mia was having a massive tantrum one morning, Mike picked her up under his arm and strode off, rolled his eyes at me and said 'She's more trouble than a rubgy ball'). They just seem very down to earth. The Philips are similar.
Zara and Anne, by the way, both have the most incredible skin. Apropo of nothing.
Unless they're on official duties, no one round here does any more than a discreet double take. No photos and no fuss.