Dorit Kemsley knows that friendship can sometimes be a pretty mess.

That's why the Real Housewives of Beverly Hills star isn't holding a grudge against her costar Erika Jayne after butting heads throughout season 15, which culminated in a heated confrontation about Dorit's behavior at the reunion.

In fact, Dorit said she's since spoken to her castmate, telling E! News in an exclusive interview, "Erika and I have had some texts back and forth and it was as warm as it always was."

"It's a testament to our connection," the Unburdened author continued. "It's almost a decade-long friendship."

However, Dorit cannot say the same about her and the "Pretty Mess" singer's mutual friend Kyle Richards, who she also clashed with during the latest season of their Bravo show.

"Kyle and I have not spoken yet," she admitted, "but I say and I stand by this: When you have two people that want to resolve something, that's all you need."

Dorit's candid memoir includes the many moments that have shaped her, on and off camera. From her upbringing in Connecticut to her life as a Real Housewife, she recounts it all.

For her part, Dorit is looking inward regarding some of the issues Erika, 54, and Kyle, 57, raised with her. Take her chronic lateness, for example, with the mom of two—who shares kids Jagger, 12, and daughter Phoenix, 10, with ex Paul "PK" Kemsley—quipping to E! that she'll arrive "on time" to the May 31 signing of her memoir at The Grove in Los Angeles.

"This was a deeply personal experience writing this book," she said. "When you speak very honestly and vulnerably, it resonates with people—and I'm hoping that the reader resonates with the book." 

Dorit added, "There's something very powerful in being honest, not being afraid to be open regardless of the judgment or the circumstances. There's a power and a beauty in that."

Her memoir Unburdened is out nationwide June 2.

And to revisit the RHOBH season 15 reunion, read on.