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What is the best time to start growing edible herbs from seed.
Do I need to start them off indoors first or do I plant them straight
outdoors? Is it too late to start them from seed?

No it's not too late. I would start them off in pots, then you can arrange
them as you want later.

Steve

Do they need a specific amount of heat and light?
i.e on the window ledge in direct sunlight, in the airing cupboard
where it's warm but dark.