Prince Harry has shared more about himself in the past week than he has in the 38 years prior—a seismic shift that has left him feeling that for the first time in his extraordinary life, the world is finally seeing him for who he is, on his terms. Until now, he writes in his new memoir Spare, out Tuesday, he felt most defined, both publicly and privately, by his role as the "spare" to his brother Prince William, the heir. "While I know much of my life may seem unrelatable, I do think most siblings can relate to struggling with comparisons, and my brother and I are no exception," he says in this week's cover story. Pick up the issue on newsstands Friday, and tap the bio link for more from PEOPLE's exclusive interview with Prince Harry. 📷: Jenna Jones