Robert Irwin is just three routines away from being the second member of his family to hoist the Len Goodman Mirrorball Trophy. The conservationist who has wowed the crowds every week on season 34 of Dancing With the Stars did it again on Tuesday night’s (Nov. 18) Prince-themed episode, when he and partner Witney Carson landed one perfect score and one near-perfect rating for their flawless routines.

The couple danced a jive to Prince & the Revolution’s “Baby I’m a Star,” which kicked off with Irwin leaping off the judge’s table in perfect time to one of the late pop icon’s high-pitched squeals, then sliding on his knees toward Carson and doing a gravity-defying stand-up move from a prone, flat-on-the-floor position.

From there, the couple pulled off fancy footwork, spins and acrobatic m

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