As Hilary Duff relives the early-aughts nostalgia of her career amid her major comeback to pop music, the star is looking back fondly on memories with her onscreen Lizzie McGuire dad, Robert Carradine, who tragically died by suicide at age 71 on Tuesday, February 24.

The multi-hyphenate penned a moving tribute to the late actor on Instagram, alongside Y2K-era photos of them on the set of the hit Disney Channel sitcom. “This one hurts. It’s really hard to face this reality about an old friend. There was so much warmth in the McGuire family and I always felt so cared for by my onscreen parents. I’ll be forever grateful for that,” Hilary wrote.

She continued, “I’m deeply sad to learn Bobby was suffering. My heart aches for him, his family, and everyone who loved him.”

Her onscreen little brother, Jake Thomas, also admitted his “heart hurts” while penning a moving tribute to the late actor who played his dad.

“He was one of the coolest guys you could ever meet. Funny, pragmatic, sometimes cranky, always a little eccentric,” Jake wrote, in part.

“He was a talented actor, musician, and director. But more than anything, he was family. I have many fond memories being with him and his family throughout my life. Good moments, challenging moments, and lots of laughs between,” he shared.

Lalaine, who played Lizzie’s best friend Miranda, also shared her condolences with a post shared to her private Instagram account.

“It’s really not fair. I’m fucked up atm. I am thankful tho. Thankful I had time with you, thankful for our last conversation, and your constant fatherly like support. I love you Bobby,” she shared, per Deadline.

Robert’s family revealed their devastating loss in a statement to Deadline on Tuesday, February 24.

“It is with profound sadness that we must share that our beloved father, grandfather, uncle, and brother Robert Carradine has passed away. In a world that can feel so dark, Bobby was always a beacon on light to everyone around him,” Robert’s family wrote.

The statement continued, “We are bereft at the loss of this beautiful soul and want to acknowledge Bobby’s valiant struggle against his nearly two-decade battle with bipolar disorder. We hope his journey can shine a light and encourage addressing the stigma that attaches to mental illness. At this time we ask for the privacy to grieve this unfathomable loss. With gratitude for your understanding and compassion.”

2010 Chiller Theatre Expo - Day 1
Bobby Bank//Getty Images

Robert’s older brother, Keith Carradine, admitted that his family wanted people to know of his struggles with bipolar disorder. “We want people to know it, and there is no shame in it,” he told the outlet. “It is an illness that got the best of him, and I want to celebrate him for his struggle with it and celebrate his beautiful soul. He was profoundly gifted, and we will miss him every day. We will take solace in how funny he could be, how wise and utterly accepting and tolerant he was. That’s who my baby brother was.”