We sailed Sky Princess, Koningsdam, and Oosterdam in 2022 but I will just do the comparison between the Royal-class (Princess) and the Pinnacle-class (HAL).   Both ships are beautiful and very well kept.   They both cut through marine conditions quite well but the Sky has a bit more of a roll to it.  I would expect this, however, since the Sky has more decks (15) than the Koningsdam (12).   Loved the pizza restaurant (Alfredos) on the Sky (eat in).  K’dam has NY Piz
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