"It was literally the most trying and most difficult experience I have ever been through," Peter, 30, toldThe New York Post's Page Six, reflecting on his time starring on The Bachelor's 24th season and dating Madison in 2020.
"As much respect for her as I have and think so highly of her, I definitely see there were differences between the two of us that probably weren't going to allow a meaningful long-term relationship to flourish."
Peter added, "Nothing against either one of us. It's just who we are. It is what it is."
On The Bachelor's 24th season, Madison seemed to be Peter's frontrunner and top pick, but she quit the competition during her final one-on-one date with the pilot. Madison seemed torn up over the fact Peter had been intimate with one or more of his other finalists.
Peter therefore proposed marriage to his last remaining bachelorette and technical winner, Hannah Ann Sluss.
Many viewers wondered if Peter's journey would have played out differently had Madison dished about the extent of her morals and how she's a virgin who's saving herself for marriage.
"If that would have been the case, obviously the show probably would have gone a little different," Peter acknowledged. "But truly, I really mean this, I don't know if that would have changed anything in the long run."
Peter ended his engagement to Hannah Ann Sluss a couple of months after getting engaged, and then he asked Madison for a second chance.
Just two short days after Peter and Madison's joint appearance on The Bachelor: After the Final Rose special in March 2020, Peter and Madison released separate statements via Instagram announcing they had decided to split and end their revived romance.
During an April 2020 appearance on Nick Viall's The Viall Files podcast, Peter said he discovered a dealbreaker in his relationship with Madison that sealed the deal in his mind their romance was not going to last.
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"A lot of people think it was all about sex and it was all about saving herself for marriage and that was 'the biggest thing Peter can't do' -- which was frustrating to see because, you know, to be honest, that wasn't the biggest thing for me," Peter said at the time.
"Again, I respect Madi and always will, but it was other things, like, she was also saving herself for just being able to travel with her significant other until marriage."
Peter explained to Nick that while he and Madison could travel together, every destination -- domestic or international -- would be a big production because they'd have to book and sleep in separate hotel rooms.
In addition, Peter revealed Madison wasn't willing to have sleepovers in general.
"If she came out to [Los Angeles] and I had my apartment and she had hers, she wasn't going to be able to spend the night with me," Peter explained.
"That was something she had just made a decision for herself, which again I respect like no other."
But Peter said not being able to spend the night with Madison was "a big thing" for him, especially since he'd have to wait until marriage -- about two years or so, he said -- to really enjoy traveling with his love.
"That's a lifestyle thing that's so tough... and I bond a lot in relationships by spending the night together," Peter revealed.
"Not just being physical but spending the night and waking up the next morning, having breakfast... That wasn't going to be the case with [Madison], and that would be tough to get over."
Peter recalled his official breakup with Madison being "super sad."
"I remember for probably six hours, we stayed on her bed [at her hotel] -- we laughed, we cried, we hugged each other, we said nothing, we talked. It was rough," Peter shared with Nick.
Peter added he and Madison just proved his mother Barbara Weber right by determining through serious conversation they aren't compatible and so their relationship would never work out long-term.
Barbara, for example, pointed out that Peter loves to drink and party on the weekends and Madison seemed much more religious and faith-driven in her hobbies.
According to Page Six, Madison graduated from seminary school and once envisioned herself becoming a pastor's wife.
Not only was Madison a virgin on the show -- and Peter had sex with Hannah Brown four times in the Fantasy Suite onThe Bachelorette's fifteenth season -- but Madison said one of her biggest goals in life is to open an orphanage.
Madison also expects her future husband to be the religious leader of her future children, and Peter admitted to the bachelorette he's more "spiritual" than religious and his faith could definitely be stronger.
"At the end of the day, it is what it is and it all happened the way that it was supposed to," Peter told Page Six.
"I've got nothing but great things to say about her," he said. "She's always carried herself in the best way possible. I'm excited to see all her success that she's accomplished."
Now that Peter is single, he has high hopes about meeting a woman outside of Bachelor Nation.
"I really am more of a private person. I know a lot of people don't believe that but I really am," he said.
"I look forward to possibly dating someone that's not in the public eye. To me, there's something thatâ€™s just very attractive about that and just keeping things a little bit closer to the chest."
But if looking for love doesn't work out the organic way, Peter revealed he's open to appearing on a future edition of Bachelor in Paradise.
"That's obviously the one avenue I haven't gone down, but it's the one that I think could work better for me than The Bachelorette or The Bachelor," Peter explained.
Due to a work conflict, Peter was unable to participate in Bachelor in Paradise's seventh season this past summer -- but he did consider it.
"Just being able to focus on one person is how I really kind of like vibe with someone and connect," Peter noted. "Having so many people around and having so many women to navigate through, it can be distracting. So I like the thought of how Paradise is run."
As far as her relationship with Peter goes, Madison told Us Weekly in October that she and Peter no longer talk and they've had no direct contact.
"I think he's an incredible guy and everyone goes off of what they see on an edit [or] on a TV screen," she explained, "but people have to remember that every single one of us are humans and things can be depicted a certain way, but we have real feelings. We have real emotions and a real life."
Madison opened up in a YouTube video back in late April how she was single and living in Dallas at the time following a breakup. After dating Peter, Madison entered a relationship with another man that lasted about eight months.