Numerous court papers related to the Epstein case are still sealed and unavailable to the public.
British legal experts, meanwhile, are divided over whether the prince enjoys immunity from prosecution as a senior member of the Royal Family.
"Is he insisting that he be served with a subpoena to testify, or is he willing to speak to law enforcement without being legally required to do so?" she asked.
"The question is where he answers", Mr Stephens said.
Ms Roberts, now known as Ms Giuffre after marrying, claims that billionaire paedophile Jeffrey Epstein trafficked her to London from the US.
"There are much better witnesses", he said.
Baroness Helena Kennedy QC, a prominent human and civil rights lawyer working in Scotland, said that if the Duke of York were her client she would advise him not to fly to America to speak to the Federal Bureau of Investigation. "Those are the people with really probative evidence".
Facing new charges for trafficking hundreds of women and possession of illicit images of minors, Epstein hung himself in jail in August 2019.
USA TODAY also reported that Andrew's resignation comes on the heels of a recent controversial interview with the BBC in which he said he doesn't remember meeting Giuffre, despite a picture of the two, he with his arm around her waist, that has been floating around the internet since at least 2011.
But the prince notably failed to express any sympathy for Epstein's victims.
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Prince Andrew was simply not credible in his interview.
Pitch will become a private initiative separate from the public work he has relinquished after the backlash following the television interview about his friendship with Epstein, widely viewed as a PR disaster.
What has Prince Andrew actually "stepped back" from?
"Clearly this has to take a legal route, some sort of consultation with the Federal Bureau of Investigation or somebody in an attempt to clear his name", Little said.
She criticised the Duke's "very weak language" for describing child sex crimes as "unbecoming", and described his reaction to questions posed by Newsnight journalist Emily Maitlis as "shocking" and "ill-considered".
She said when the revelations about Epstein came out she was "completely shocked".
Andrew was expected to travel to the Middle East this weekend as part of his Pitch@Palace project for tech entrepreneurs but the plan has been cancelled.
Andrew's woes have provided plenty of fodder for Republic, an anti-monarchist movement that wants Britain to elect its head of state rather than put the monarch in that role.