Diagram illustrating the structural evolution that we have proposed for the Milky Way. The grey ellipse shows the DM halo, with the darker region representing the inner halo associated with the stellar disc. The black dots denote satellite galaxies, while the red curve represents orbit of a massive satellite retrograde to the rotation of stellar disc. Several gigayears ago, the Milky Way featured an oblate DM halo, with the stellar disc, DM halo, and satellite galaxies co-aligned. Around 6-8 Gyr ago, the disc and inner halo began tilting, and this tilt continued over the subsequent gigayears, eventually leading to a twisted DM halo, with the outer DM halo and satellite plane becoming perpendicular to the stellar disc.