The Beatryce Prophecy by Kate DiCamillo (2021) Candlewick

A young girl is found lying next to a usually terrifying goat. But he makes an exception for the girl, who can only remember her first name.  The current king is searching for a girl who is supposed to unseat him and change the way things are done in the kingdom.  There is also a boy whose parents were killed, and a king who walked away from his throne.  The usual wonderful writing by DiCamillo.