ΔE 9.3, close: similar, with a visible difference side by side. Ultramarine Highlight is a little lighter, more muted, cooler than Royal Blue.
Usually, if you are not matching paint already on the model. Close match (ΔE 9). Ultramarine Highlight is a little lighter, more muted, cooler than Royal Blue.
The same difference applies the other way round: Royal Blue is a little darker, more saturated, warmer.
ΔE is the colour difference between our two swatch estimates: under about 6 is close, over about 15 is loose. Real paints also differ in finish, coverage and how they thin, so test before you commit.
See Royal Blue on the colour wheel See Ultramarine Highlight on the colour wheel
All matches: Royal Blue equivalents · Ultramarine Highlight equivalents