TV picks: Your day-by-day guide to the best on the box

Britain's Got Talent (ITV, Saturday 8pm)

Ant and Dec host the first semi-final of this year's talent contest, making a return to screens following the auditions episodes broadcast in the spring. Amanda Holden, Alesha Dixon, David Walliams and Ashley Banjo are on the judging desk, as the acts that impressed them the most return, including the golden buzzer acts – singer Fayth Ifil, comedian and singer Jon Courtney, choir Sign Along With Us, comedian Nabil Abdulrashid, and mother and daughter singing duo, Honey and Sammy.

The Palace vs the Press: Royals Under Fire (C5, Saturday 9pm)

The relationship between the press and the royal family has long been a fraught one, but for many years the Queen has seemingly stuck to the mantra of "never complain, never explain". However, some of the younger members, most notably Prince Harry and Meghan, have clearly chosen to take a different approach. This documentary looks at the Windsors' evolving relationship with the media, focusing on the younger generation who are ready to give as good as they get and may want to take a more active role in shaping their own images.

Piers Morgan's Life Stories (ITV, Saturday 10pm)

Piers Morgan's chat show often makes for emotional viewing, in part because instead of having a sofa full of celebrities ready to share their favourite anecdotes, each episode is devoted to just one guest. Now, it's returning with two episodes that could be the most inspirational and affecting yet. The second edition will feature the nation's new hero, Captain Sir Tom Moore, while the first marks the return of Vinnie Jones, who first appeared on Life Stories more than a decade ago. The footballer-turned-actor's life has changed a lot since then, as last year he lost his wife Tanya at the age of just 53. Vinnie opens up to Piers about his bereavement, and how he hopes he can help other people, particularly men, to deal with their own grief.

Soccer Aid for Unicef 2020 (ITV, Sunday 6.30pm)

England v Soccer Aid World XI (Kick-off TBA). Dermot O'Leary and Kirsty Gallacher present the pre-match build-up and full live coverage of the pro-celebrity charity football match to raise money in aid of international charity Unicef, which takes place this year at Old Trafford. The England side announced so far includes Joel Dommett, Marvin Humes, Danny Jones, Olly Murs, Joe Wicks and Mark Wright, backed up by legends Wes Brown, Katie Chapman, Andy Cole, David James and Kelly Smith. They will be managed by Sam Allardyce and Wayne Rooney. The World XI side includes Patrice Evra, Yaya Toure, Jason Manford, Iain Stirling, Chelcee Grimes and Kem Cetinay.

Louis Theroux: Life on the Edge (BBC2, Sunday 9pm)

Louis Theroux has become synonymous with documentaries about subcultures and people on the fringes of society. This four-part series features interviews with the award-winning film-maker, as well as catch-ups between him and some of his most notable contributors - many of whose stories have since unfolded in unexpected ways. Tonight, Louis looks back at his early career, including programmes on survivalists and believers in UFOs, to his now notorious documentary about the White Aryan Resistance in California. He speaks to Lamb and Lynx, members of a white nationalist pop group, and finds they've changed their mind, and hears from survivalist Mike Cain who is still preparing for an 'inevitable war' with the federal government in America.

Strike – Lethal White (BBC1, Sunday 9pm)

Still reeling after the events of last episode, Strike and Robin are more determined than ever to catch their culprit. Robin goes undercover again to befriend a suspect, but puts herself in a dangerous situation as she looks for what could be a crucial piece of evidence. Meanwhile, Strike pieces together a theory by interviewing many of the key players in the case - but ends up fending off an attack on his life in the process. The person blackmailing the Government Minister eventually becomes the duo's prime suspect - but they now believe that there was an accomplice. Finally, on the personal front, there is still tension between the pair. Strike's new romance isn't going all that well, and Robin's marriage reaches crisis point - if it hadn't already.

Better Things (BBC2, Sunday 10pm)

The bittersweet US comedy drama returns for a fourth run, and once more Pamela Adlon is very much hands on bringing it to the small screen; she wrote, directed and starred in this episode centring on the long suffering Sam Fox (not that one). In the first of a double bill, Sam and Phil pick up Frankie and Duke, who have been visiting their father, and Frankie surprises Sam by saying she wants a big party for her 15th birthday. That's followed by episode two, which also features Ms Adlon on all three lead showrunner duties, and another fine turn from series regular Celia Imrie.

Inside Animal A&E (ITV, Monday 8pm)

Ambulance drivers Sonia and Angela pick up a 50kg Dogue de Bordeaux that has a mysterious bedwetting problem, while Lawrence tries to find out why a guinea pig is anxious and upset. Meanwhile, volunteer Helen is caring for a tiny orphaned kitten.

Who Wants to Be a Millionaire? (ITV, Monday 9pm)

Jeremy Clarkson is back all week with a new run of the potentially life-changing quiz show. Chris Tarrant may have been the original host, but it's fair to say that the former Top Gear presenter has made the show his own in recent years. It's not a spoiler to reveal that somebody during the run wins the jackpot - the first person to do so since Ingram Willcox in 2006 - although their name has been kept out of the limelight so that viewers can play along and watch the drama unfold. "All of a sudden, confetti was falling from the ceiling and I was saying 'You've just won one million pounds'," said Clarkson of the winning moment. "I'm not embarrassed to say, it was a little emotional, but boy did it feel good."

Love Your Family Garden (ITV, Tuesday 8pm)

Ever since the days of Ground Force, Alan Titchmarsh has been the king of the garden makeover. However, whereas back in the late 1990s and early 2000s, decking and water features were all the rage, the series Love Your Garden has seen more unusual designs - and in these specials, Alan is looking back at some of his favourites.

Dog Tales: the Making of Man's Best Friend (BBC Four, Tuesday 9pm)

Dogs have been at our side longer than any other animal in history. They have made us better hunters, better farmers, saved our lives and protected us from harm. This show unravels the scientific secrets that explain what makes a dog, a dog, and reveals that the emotional bond between human and dog is so profound it is helping transform the lives of hardened criminals in the US prison system. There is an examination of a 30,000 year-old Belgian wolf skull that some believe marks the first transition from wolf to dog, while cutting-edge science reveals that the secret of our bond with dogs may be love. But not our love for them - their love for us.

All Creatures Great and Small (C5, Tuesday 9pm)

Siegfried's younger brother Tristan joins the practice after graduating from Edinburgh veterinary college. James finds himself begrudgingly taking the new arrival with him on his rounds, which leads to a disastrous clash over how to treat a cow suffering from milk fever. On their return to the practice, they find that Mrs Hall has guessed that Tristan is not being entirely honest about his sudden arrival. Elsewhere, James makes a good impression on a wealthy widow (Diana Rigg) and her beloved Pekingese.

Zoo Mum - Our Lives (BBC1, Wednesday 7.30pm)

Lockdown was challenging for everyone, but it was a particularly worrying time for the nation's zoos. This documentary charts life at Colchester Zoo for curator Sarah Forsyth, who heads into the busiest summer of her life keeping her animals happy while four out of five of her keeping staff are furloughed. Cameras follow Sarah for two weeks, entirely inside the walls of one of Britain's largest zoos, as she works tirelessly to deal with the summer baby boom, animal emergencies and unique situations created by the absence of paying public. First shown on BBC One East.

Mary Berry's Simple Comforts (BBC2, Wednesday 8pm)

She's the queen of the kitchen and the nation's surrogate gran, so it's rather lovely to see Mary Berry return with a new series. Mary is keeping things simple so that even the most disastrous home chef can follow her recipes.

Nadiya Bakes (BBC2, Wednesday 8.30pm)

Many of us found solace in baking during lockdown - when we could lay our hands on such vital ingredients as flour and eggs, that is. Both sold out in supermarkets as we attempted to make our own food. If you're one of those who tried it for the first time - or an old hand looking for ways to revamp your repertoire - Nadiya Hussain is back on the box with a new series in which she demonstrates some of her favourite recipes. She travels across the UK to meet with other inspirational bakers, preparing everything from choux pastry to biscuits, and churros to pies. Each episode also sees her meet up with a viewer who needs a hand in making a centrepiece for a celebration or major event.

24 Hours in A&E (C4, Wednesday 9pm)

This episode follows the stories of three patients and how they cope when life takes an unexpected turn, including a patient who severed three of his fingers with an electric saw. Elsewhere, a man with motor neurone disease is rushed to St George's with severe sepsis, and a teenager struggles to come to terms with the impact of serious injuries he sustained in a car crash six weeks ago.

Location, Location, Location: 20 Years and Counting (C4, Thursday 8pm)

Kirstie Allsopp and Phil Spencer continue to celebrate two decades of the property programme by looking back at the times they have been asked to search for million-pound houses. But with a big budget comes big expectations, as proved by Steve and Dee, who had a list of 34 requirements and a tiny search area. Meanwhile, Bermondsey boy Matt and fiancee Tricia hoped to start a family in their dream rural Kentish home with scenic views.

Semi-Detached (BBC2, Thursday 9.35pm)

Willie has been in hospital a few days after his collapse, and although he seems to be doing well, the doctor informs the family he needs a new kidney - and the first port of call is always the children. All it takes is a simple blood test - but for Stuart this means facing up to his lifelong fear of needles. Meanwhile, a drunken Ted, having been thrown out by Kate, is desperate for her to take him back, and the result of Bertha's DNA test is due at any moment - with April's smug ex-fiance Humphrey refusing to go anywhere until he hears where he stands. Last in the series.

Gogglebox (C4, Friday 9pm)

The regular Goggleboxers' return coincides with new episodes of EastEnders and Britain's Got Talent after what has been, by necessity, a repeat-heavy summer, but no matter what is on, the armchair critics usually have something entertaining to say about it. But which shows will have caught their eyes this week?

23 Cases (More4, Friday 9pm)

The first episode of this German crime drama will be broadcast this evening, with the whole box then released on Walter Presents via All 4. The public breathes a sigh of relief when serial killer Maximillian Rapp finally confesses to 23 brutal murders. But for Detective Tara Scholl, something doesn't add up. Tara and her lover and colleague Henry Kloss suspect Rapp is innocent of at least three of the murders to which he confessed. Convincing the chief of police that their necks will be on the line if they don't solve the case, he asks Tara to lead the investigation. But when Rapp warns them that another murder is on the horizon, they have no choice but to enlist him to find the real killer.

It'll Be Alright on the Night (ITV, Friday 9.30pm)

David Walliams presents a further compilation of TV clangers, gaffes and fluffed cues, all rescued from the cutting-room floor, even if some of the stars might have preferred it if they'd stayed unseen rather than being broadcast in primetime. Clips include Olly Murs being attacked by a fly on The Voice, a goat running amok in Judge Rinder's court, a Love islander discovering the danger of wearing high heels on TV, and a desperate dog relieving himself on Paul O'Grady. Will that test even O'Grady's legendary love of canines?

Soul America (BBC4, Friday 9.30pm)

Memories of the late '60s and early '70s, a period when inequality, poverty and racism fanned the flames of radical black politics and resulted in a harder soul sound. Stax Records went from being a label built around an integrated house band to becoming a black-centric business spearheaded by Isaac Hayes' expansive, flamboyant soul symphonies. Meanwhile, the Temptations tackled socially aware subjects like the Detroit riot and absent fathers, while Marvin Gaye conceived the epic What's Going On. Narrated by Carleen Anderson.