Sewha definitely remembers the royal siblings and sia knows who sewha is. There was also a chapter when sia hinted that she knew who sewha is(back when they were publishing the book) and i think sewha knows that the princess will not prosecute her thats why she said the thing about letting go of criminal's children.The crown prince however, doesnt seem to recognize sewha yet.
As for sucheon, he doesnt remember what the royal siblings look like. Maybe coz he was still so young back then and also he would have expected the little princess to be grown up by now and not some small kid still.

So I am caught up, but I decided to start reading from the beginning again and I got to the part where sia first met Kim jihwa and Kim sucheon, the siblings. Both the siblings met the royal sibling pair and knew they were the prince and princess. And now in the future, the siblings are both in the presence of the royal sibling pair again, though under different guises/names. Do they not remembering meeting sia and the CP?? Like I know something happened to their family so they had to run away but doesn't it seem risky to be coming back now? But I know this is also partially the 'plot' of the 'original novel' so maybe there's no use in questioning it.
I just can't recall the sibling pair haven't moments of recognition toward their past with the royal siblings, but maybe I missed it