The 53-year-old Miranda star approached the BBC show with caution but has crushed her expectations, becoming a firm favourite for the final.
From getting over her panic about bare legs to flying in the air in a cartwheel lift, she has had a change of heart.
Sarah, who has been producing stunning performances each week alongside professional dancer Vito Coppola, 32, now wonders why so many women set limits for themselves.
Sarah, who lives in London with her young daughter, says: "At the beginning, I felt I know myself really well. I'm the age I am. I know what I can do.
"I won't have anybody else tell me what I can do. I'm happy to push myself, but if you tell me I can do something, I'll say no, because I won't be told.
"I was setting limits without realising.
I thought, I'm quite a good dancer. I did a lot of dancing 30 years ago. I know what I can do', but in the same breath I was saying, 'This is what I can't do.
"When Vito would say, 'We're going to do this', I would say, 'No, I can't do it, I need to rest, I can't do that step.
"I thought I was being really assertive, but Vito was adamant that I could do it.
"If you'd told me the things I'd be doing, such as the lifts, I would have said 100% no. But I completely trust him - I mean, I let him push me backwards off a table at speed."
Sarah, dubbed Tigger along with Vito because they don't stop bouncing around and fidgeting, says her change of attitude about limiting herself has had a massive impact on her life.
She says: "I think a lot of women do that to themselves. And it still goes on for women of a certain age that people say, 'You can't do this'.
"But I think you also have to change your mindset, because if you say, 'This is my limitation' other people agree and it becomes something very solid.
This story is from the {{IssueName}} edition of {{MagazineName}}.
Start your 7-day Magzter GOLD free trial to access thousands of curated premium stories, and 9,000+ magazines and newspapers.
Already a subscriber ? Sign In
This story is from the {{IssueName}} edition of {{MagazineName}}.
Start your 7-day Magzter GOLD free trial to access thousands of curated premium stories, and 9,000+ magazines and newspapers.
Already a subscriber? Sign In
SMITH'S A TENSATION
Jones hails the near-perfect England fly-half... but Marcus says he's still learning every time he plays
KEEP FAITH WITH POPE
Baz backs stand-in keeper Ollie to succeed at No.3
Was Brit double killer the Butcher of Mons?
Belgian crime expert calls for probe into monster Sweeney
Paddy given a factory reset
BBC hit back for Xmas special with new host
Maid 'murdered by Brit was about to fly home
Killed in Hong Kong a day before trip back
TRUMP ELECTION RAP IS DROPPED
Case over 2020 defeat set to be thrown out
Cher.. and Cher alike
Star was in her 30s before she found out her real name
Tragic Liam fell 'trying to flee from hotel room'
Staff 'knew he threatened to escape'
Craig.... the softie
Strictly judge had to tone down his cruel barbs or be cancelled
Danny's had me in tears
McFly star's sister proud he opened up over his anxiety