"We both talked through what's going on in the book and there's nothing for her to be worried about or concerned [about]," Tyler toldUs Weekly in a video interview.
"I have no bad things to say about her, so it's all good. It's all good there. She taught me a lot."
He added, "I haven't seen her in a while but we're still friends."
Although fans were shipping a Tyler and Hannah reconciliation pretty hard last year, they both moved on from their relationship on The Bachelorette's fifteenth season in 2019.
Tyler is currently dating model Camila Kendra and Hannah is in a serious relationship with model Adam Woolard.
Tyler explained of his book, "I'm excited to share a lot with everybody -- my past stories, you know, my relationship stories and the things I've learned from my relationships, and my advice, and things to do and things not to do."
Tyler added that he wrote about "red flags" in relationships and "mantras to live by."
"I've been through some dark times and was in some pretty deep holes, and [I reveal] how I got myself out of them. Hopefully people can relate... and it has to do with respecting women," Tyler said.
Tyler finished Hannah's The Bachelorette season as the runner-up behind Jed Wyatt at the Final Rose Ceremony, but Hannah broke off her engagement to Jed five weeks after his marriage proposal because he had lied about having a girlfriend back home in Nashville during filming.
Despite being dumped on the show, Tyler fell hard for Hannah on The Bachelorette and continued to rave about her and support her through his broken heart.
On The Bachelorette's live reunion special in late July 2019, Hannah asked Tyler out on a date, which resulted in the pair spending one night together in Los Angeles. However, nothing but a friendship ever came of it.
"I was being praised for honestly what I think is the bare minimum, you know?" Tyler recalled to Us of his time on the show, which included not having sex with Hannah in the Fantasy Suite.
"There's articles written about me, 'Tyler Cameron Gives Masterclass on Consent' and [calling me a] feminist iconâ€™ and all this stuff. I'm like, all I did was respect a woman."
His experience on The Bachelorette was therefore his motivation for writing the book.
"Like no is no, you know? And like, if she wants to go do something, she should go and do it. And so, for me, when I saw all the praise, it was cool, it was great at first," Tyler explained.
"But then I realized, like, there's something wrong with our culture right now if this is what is being praised. This should be the norm. That's kind of what really motivated me to write this book and kind of the core of this book."
After The Bachelorette aired in 2019, Tyler set his sights on supermodel Gigi Hadid, whom he dated for two months, and moved to New York City to pursue modeling. (He later had flings with Kylie Jenner's best friend Anastasia Karanikolaou and swimsuit model Jilissa Ann Zoltko. He was subsequently spotted out with other models).
Hannah returned home to her family in Alabama on April 1, 2020 and expressed at the time how she and Tyler only had a platonic relationship.
In an early October YouTube video Hannah and Tyler created together, the pair confirmed they never hooked up -- or even kissed -- while in quarantine.
However, Hannah confessed she and Tyler had been "feeling each other out" at the time and the lack of clarity she had about their relationship was bothersome.
"I didn't want to do something because I was in a bad place or vulnerable," Tyler said, adding that he had "mixed feelings" about pursuing a romance with Hannah again after getting dumped on The Bachelorette.
"I just wanted to work on it being a friendship. If we stepped away from each other and wanted more, we could always go and get more."