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The sailor Uranus does actually see the sailor moon turn into the princess in episode 10.
Episode 40 or 42
No. they did not know sailor moon is the princess yet. until episode 32. If you want to see, check it out in youtube :)
Sailor Moon herself is the Moon Princess.
'My only love' by Jennifer Cihi.
Episode 193: The Silver Crystal is Stolen! Princess Kakyuu Appears
Sailor Moon is Princess Serenity, however there is no "Sailor Serenity"
Depending on which Moon Princess you mean, there are a few possible answers:If you mean Princess Serenity/Princess Serena, the Princess first featured in the Sailor Moon series, then her mother is Queen Serenity, the ruler of the Moon Kingdom.If you mean Princess "Small Lady" Serenity/Chibiusa/Rini, first featured in the second arc of Sailor Moon (called "Sailor Moon R" in the anime), her mother is Usagi/Serena, the former Princess Serenity and, in the 30th century from which Chibiusa/Rini hails, is called Neo-Queen Serenity.
The sailor scouts go to the moon in episode 40 or 41 of Sailor Moon.
Episode 132
There isn't an episode in which all of the sailor scouts are kidnapped. The closest to a kidnapping would be in Sailor Moon R when Sailor moon is aducted by Prince Diamond and the is episode 83
They find out in episode 109 of Sailor Moon S