The Brazilian has been linked with a departure from QPR this summer, having been on loan at West Brom earlier this year.
Tottenham's Sandro in action
The Brazil international had an abrupt end to his Spurs career after leaving White Hart Lane in 2014.
"Yeah, it was difficult," he told Schiavone's Youtube channel when asked if he regretted leaving Spurs. "I had four years there, four good years. A few things changed and I had to leave.
"But there’s always a good feeling speaking about Tottenham. I feel something because it is a special club for me."
After failing to get into new manager's Mauricio Pochettino plans when he arrived that summer, failing to make the match day 18 in the three league matches before the transfer window, and Sandro ended up moving across to London to sign for QPR.
Tottenham's Toby Alderweireld looks dejected after the game as Jan Vertonghen hugs West Brom's Sandro
Sandro is still on the books at Loftus Road after a difficult two years, but the 27-year-old has been closely linked with a move away this summer following a short loan at West Brom, with reports (West London Sport) suggesting Russian clubs are interested in his services.
It is true that the Brazilian had a positive relationship with Spurs fans, with a series of dominant and powerful midfield displays after moving from Internacional accompanying the player's infectious and entertaining personality in helping create his legacy.
Sandro (L) and Benfica's Enzo Perez in action
Sandro's "Beast" nickname and his flamboyant hairstyles accompanied his role in the club's first ever foray into the Champions League, with the midfielder vital in a special 1-0 win in the San Siro on their way to the quarter-finals - his first European appearance for the North Londoners.
Nevertheless, despite Sandro's promise throughout a four-year spell, he failed to really nail down a position in the sides of Harry Redknapp, Andre Villas-Boas, Tim Sherwood or Mauricio Pochettino, with the Argentine agreeing to his sale to an R's side under the management of Redknapp in 2014. Injuries and rotation often got in his way, but many Tottenham supporters will remember the impressive performances he put in during his 106 games at the club.
Sandro during Spurs training