The Gabon international had played for the Blues’ London rivals Arsenal, after moving to the Gunners in 2018 from Borussia Dortmund.
He later fell out with manager Mikel Arteta, prompting a January move to Barcelona four years later.
Months after his move, Aubameyang made a surprise switch to Chelsea, reconnecting with his former manager at Dortmund, then-Chelsea boss Tuchel.
‘That was a big mistake going there,’ Aubameyang told Arsenal content creator Troopz. ‘It was a f****** big mistake.
‘At that time, I had a bad moment in Barcelona. I had a home break-in and Barca needed to sell a player – me or Memphis Depay – and the only thing that was on the table was Chelsea.
‘So I said, “OK, for my family, I will move away, even if it’s Chelsea.”
‘I was thinking maybe it will be OK, Olivier Giroud went from Arsenal to Chelsea and he had no problems, but for me it was different.’