Question: Lady Audrey Walsingham served as Mistress of the Robes to a queen that was born in what year?

Context paragraphs:
Jane Hamilton (British noblewoman): Jane, Lady Archibald Hamilton (née Lady Jane Hamilton) (before 1704 – 6 December 1753, Paris) was a British noblewoman.  She was the fifth child and third daughter of James Hamilton, 6th Earl of Abercorn (d. 1734) and Elizabeth Reading, daughter of Sir Robert Reading, 1st Baronet.  She was mistress to Frederick, Prince of Wales and First Lady of the Bedchamber, Mistress of the Robes and Privy Purse to his wife, Augusta of Saxe-Gotha.

Karin Gyllenstierna: Karin Göransdotter Gyllenstierna (floruit 1530s - 1602) was a Swedish courtier.  She served as hovmästarinna (senior lady in waiting, or mistress of the Robes) to queen Catherine Jagellon and, after her death, to Princess Anna Vasa of Sweden.

Audrey Walsingham: Lady Audrey Walsingham, née "Shelton" (1568-1624), was an English court office holder.  She served as Lady of the Bedchamber to queen Elizabeth I of England, and then as Mistress of the Robes to Anne of Denmark from 1603 until 1619.

Dorothy Stafford: Dorothy Stafford, Lady Stafford (1 October 1526 – 22 September 1604) was an English noblewoman, and an influential person at the court of Queen Elizabeth I of England, to whom Dorothy served as Mistress of the Robes.  Dorothy was the second wife of Sir William Stafford, widower of Mary Boleyn.  Dorothy and her family were forced to seek exile in Geneva during the reign of Mary I due to their Protestant religion.  The Protestant reformer John Calvin stood as godfather to her youngest son.

Fredrika Eleonora von Düben: Fredrika Eleonora von Düben (1738–1808) was a Swedish dilettante painter and Embroidery artist, an honorary member of the Royal Swedish Academy of Arts (1783).  She was maid of honor to the Queen, Louisa Ulrika of Prussia, in 1757-59 and Chief Court mistress, Mistress of the Robes of the Swedish queen dowager in 1771-1782.

HMS Sceptre (S104): The fifth HMS "Sceptre" is a "Swiftsure"-class submarine built by Vickers in Barrow-in-Furness.  She was launched in 1976, with a bottle of cider against her hull.  She was commissioned on 14 February 1978, by Lady Audrey White.  She was the tenth nuclear fleet submarine to enter service with the Royal Navy.  She was decommissioned on 10 December 2010, at which time she was the oldest commissioned vessel in the Royal Navy still available for service.  In theory she is replaced by the first "Astute"-class submarine in service, HMS "Astute".

Ursula St Barbe: Ursula St Barbe (died 18 June 1602) (aka Ursula, Lady Worsley and Ursula, Lady Walsingham) was a lady at the court of Queen Elizabeth I of England.  She was the daughter of Henry St Barbe, of Ashington, Somerset, by his wife, Eleanor Lewknor.  She first married Sir Richard Worsley, who was the captain of the Isle of Wight.  After his death, she married Sir Francis Walsingham in 1566.  The following year, her two sons by Worsley, John and George, were killed along with others in an accidental gunpowder explosion at the Worsley estate on the Isle of Wight, Appuldurcombe.  Gunpowder had been laid out to dry in the gatehouse, where the boys had lessons, when a stray spark ignited it.  With Walsingham, Ursula had two daughters: Frances, who was born in about October 1567 and married Sir Philip Sidney, and Mary, who was born in early January 1573 and died in 1580.

Groom of the Robes: Groom of the Robes is an office in the Royal Household of the Sovereign of England (later Great Britain, ultimately the United Kingdom).  In 1953, the Groom of the Robes to Elizabeth II had the task of bringing forward the robes and other items of ceremonial clothing worn by the monarch at various points in the coronation service, ready to hand them over to the Mistress of the Robes and the Lord Great Chamberlain (who assisted The Queen in putting them on) and to receive and remove those which were no longer required.

Anne of Denmark: Anne of Denmark (Danish: "Anna" ; 12 December 1574 – 2 March 1619) was Queen consort of Scotland, England, and Ireland by marriage to King James VI and I.

Arthur Robes: Arthur Bardillon Robes (born November 6, 1963) is a Filipino politician and the current mayor of San Jose del Monte, Bulacan.  Robes also served as the former Representative of the lone district of San Jose del Monte for three consecutive terms from 2007 to 2016.  He is married to the current Representative of San Jose del Monte, Florida "Ride" Perez-Robes.  Robes has a degree in Bachelor of Science in Commerce, major in Marketing at the San Sebastian College – Recoletos.

Supporting paragraphs: Audrey Walsingham Anne of Denmark
Answer: 1574