Camilla and Zara - Pretty warm, Zara has hugged Kate in public in the past and Camilla and Kate hang out a lot.
Autumn - went to her wedding but haven’t really hung out together. I think they are more acquaintances
Sophie - Again acquaintances
Beatrice and Eugenie - Yes, a bit of trouble there. Kate did seem to disrespect them in the mid 2000s. But I think it’s safe to say that William would have given her a dressing down for it given that Beatrice and Eugenie are more like sisters to him than cousins. I think Kate would have apologized for any rude behavior and it was a few years ago so I think it’s water under the bridge.
But again, Kate and the York girls don’t hang out together so at best I would again say they are acquaintances.