Two years later, Miller reprised the role and Aaron returned on 14 August 2014, as part of a heist storyline involving Donna Windsor (Verity Rushworth) and Ross Barton (Michael Parr).

The character's most notable storylines since his return have been his affair and subsequent relationship with Robert Sugden (Ryan Hawley), his role in Katie Sugden's (Sammy Winward) death, self-harming, revealing that he was sexually abused by his father Gordon when he was a child which made him attempt suicide once more, reuniting with his estranged half-sister Liv Flaherty (Isobel Steele) and becoming her guardian, being sent to prison for grievous bodily harm, and breaking up and reuniting with Robert, playing a part in raising his son, and marrying him.

Miller made a unannounced return on 9 October 2023, revealed to be his uncles Cain and Caleb Miligan (William Ash)'s hostage at Wylies Farm.

Despite this, Aaron returns to Emmerdale several months later, staying longer than expected as he came into contact with a person who had German measles and Sandra was pregnant.

Aaron returns home to his father and his stepmother, after telling Chas that while she was in the Army, her partner Carl King (Tom Lister) had a one-night stand with her cousin, Del Dingle (Hayley Tamaddon).

Aaron convinces his cousin, Belle Dingle (Eden Taylor-Draper), to take the day off school and is also caught stealing so Lisa (Jane Cox) throws him out.

When Aaron ignites a bale of hay at the Bartons' farm Holly's father, John (James Thornton), hits him and locks him in a stable.

In anger over his mother's new relationship, he tampers with the brakes on Carl's car, but when he realises that Jimmy and Nicola King are driving it with their infant daughter, he stops them and fixes it.

Aaron returns to stop Adam participating in a robbery with Ross Barton (Michael Parr) and Donna Windsor (Verity Rushworth).

A few weeks later Robert Sugden (Ryan Hawley) asks Aaron to fix his car and the pair kiss and they have sex, starting an affair.

Katie Sugden (Sammy Winward) suspects that Robert is cheating on his fiancée, Chrissie White (Louise Marwood) and sets about trying to prove it.

Robert helps Aaron track down his stepmother, Sandra (Joanne Mitchell) and his younger half-sister, Liv Flaherty (Isobel Steele).

Aaron overhears Chrissie's teenage son, Lachlan White (Thomas Atkinson), threatening to make false allegations of sexual abuse against Robert and warns him to stay away.

After seeking the advice of one of the guards, Aaron decides to hide his sexuality for his own protection, but instinctively shouts at the prison bully Jason when he sees him abusing a fellow gay inmate.

Battered and bruised, Aaron rings Chas and tells her to see Sarah in Prague, assuring his mum he's ok but after Jason stops by to warn him its only the beginning, he crumples the floor and suffers a severe panic attack.

The next day, Aaron attends his first counselling session and with Robert's encouragement finds himself finally able to open up about his problems and admitting that he wants to change.

Liv attempts to convince Robert to fight for Aaron, but when he is rude to her in front of Rebecca, she steals his car and a bottle of spiked rum from Home Farm.

In early 2018, Aaron, Cain, and Robert work together to help Adam flee the country after he confessed to the murder of Emma Barton in order to protect the culprit, his mother Moira.

They, along with Cain and Moira, are forced to deal with Syd – the prisoner collaterally involved in Adam's escape – when he invades the Mill and later kidnaps Aaron in exchange for €10,000.

Robert then arrives on stand and he takes a glance at Aaron, he pleads guilty to murder and is sentenced to life imprisonment with a minimum of 14 years without parole.

[7] On 20 December 2016, Aaron was temporarily played by actor Bryan Parry in a special episode focusing on the viewpoint of dementia patient Ashley Thomas (John Middleton).

As the storyline progressed, Aaron was seen struggling to come to terms with his sexuality, before admitting the truth to his friend and guardian Paddy Kirk (Dominic Brunt).

"[7] Miller's co-star, Dominic Brunt has praised the storyline and told Media and Entertainment website, Digital Spy, that "It's done more realistically than I've seen in a soap."

[14] Emmerdale producer Gavin Blyth explained the gay plotline to Miller saying, "There are hundreds of thousands of teenage lads out there who are struggling with it as we speak – they're sexually confused".

[15] Miller has admitted that he felt "awkward" and "strange" when he filmed an intimate moment with his Emmerdale co-star Adam Thomas, who is his real-life flatmate.

"[18] In February 2012, Susan Hill of the Daily Star reported Aaron would exit the village in "heartbreaking scenes" after turning down the chance to leave with his new man, Ed Roberts (Lloyd Everitt).

[19] The following month, Miller and other members of the cast and crew were spotted filming Aaron's final scenes at Robin Hood Airport.

[20] Paul Millar of Digital Spy reported that Aaron's final scenes could see him on the run from the police after being accused of setting fire to the garage.

[24] After the emotional episode aired, Miller was overwhelmed by the response to his child abuse storyline with fans and co-stars praising his performance on Twitter.

[30] Aaron's exit scenes were broadcast on 6 December 2021, as he leaves the village following the death of his partner Ben Tucker (Simon Lennon).