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I'm pretty sure George R.R. Martin wouldn't let them go changing ages willy-nilly, this is supposed to be the most true-to-the-book adaptation of any story, ever.
TV Robb may look older, but I think they're still claiming he's 14-15. He and Jon are supposed to be roughly the same age. Sansa is definitely 13 in both book and TV, though she is technically prepubescent as well since she hasn't menstruated yet (this being a key plot point over whether she can be married yet.) I remember thinking when reading the book that 13 was not impossible, but on the rare side, for not having her period yet.
TV Bran is declared to be 10 in episode 1, right before Jaime does his thing. Can't remember how old he's supposed to be in the book.
I did have it in my head that Rickon was supposed to be, like, a preschooler, but I think that's me misremembering, because it seems pretty shocking to have aged him up to 6 in the show if he wasn't that age in the book.
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