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The journalist left the programme in September after 20 years as part of the early morning team.
"It took me a long time to come to that decision - not just months, probably over even longer than that," she said.
“In life, I have tried to be brave,” added the 53-year-old. “I don't even know whether it was the right decision. I think it was, but sometimes it's time to jump off the ferry and that was the time."
She went on: "On the day that I came out of I'm A Celebrity, (BBC Breakfast) they asked me back.
"That was really lovely because of course I really do miss my colleagues and I do miss my job. It was actually lovely to go back and lovely to be a guest. It was lovely to be able to say 'hello' to my friends.
"Hopefully, I can go back again but obviously I don't have that job. But to occasionally pop in. It was really special to do that."
Minchin was given an emotional send off from BBC Breakfast in September.
The star shed a few tears as she was presented with a cake with a sugar paste replica of herself perched on top.
She said it had been “a privilege to sit here on the red sofa and report on our shared history”.
Watch: Louise Minchin's final goodbye after 20 years at BBC Breakfast