In odd terms I hear you do go with members of a former royal house (6)
I believe the answer is:
tudors
'members of a former royal house' is the definition.
The answer and definition can be both groups as well as being plural nouns.
Maybe there's an association between them I don't understand?
'in odd terms i hear you do go' is the wordplay.
'in' indicates putting letters inside.
'odd' indicates alternate letters.
'i hear you' becomes 'u' (I am not sure about this - if you are sure you should give a lot more credence to this answer).
'do go' becomes 'do' (doing is a kind of going).
The alternate letters of 'terms' are 'trs'.
'u'+'do'='udo'
'trs' placed around 'udo' is 'TUDORS'.
'with' acts as a link.
Can you help me to learn more?
(Other definitions for tudors that I've seen before include "English dynasty in the 16th century" , "English monarchs from Henry VII to Elizabeth I" , "Royal family" , "English royal house" , "Members of English royal line" .)