After the first time you must wait until *SPOILERS* Zant hurts Midna with light, and then you must take her to zelda, at which point Zelda infuses her power into Midna, and therefore dying. So you can only visit Zelda two times in her castle, and a last time when Ganondorf takes control over her body, and then when the Ganondorf inside her is defeated, she shoots Ganon with light arrows in the second to last battle with Ganondorf. *END SPOILERS*
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there is no horse
Princess Zelda? Link, of course.
the princess of the kingdom of hyrule
Princess Zelda is the first character to appear on screen in the very first Zelda game titled the Legend of Zelda, which was released in 1985. She has appeared in every game since.
No. Princess Peach is from Mario Bros.