Speaking exclusively with SBS Tamil after her family arrived back in the rural Queensland town of Biloela, Ms Nadesalingam called for all immigration detention centres to be closed.
“Please no more life in detention. It is not suitable for any human being,” she said.
"I went into detention as a healthy person and have come out as an unhealthy mother."
Her remarks came shortly before the stabbing death of a 32-year-old detainee at the Yongah Hill Immigration Detention Centre east of Perth on Wednesday at midnight.
Police said Homicide Squad detectives were investigating the death and two people were assisting with inquiries.
Ms Nadesalingam, and her husband Nades, arrived in Australia a decade ago as Tamil asylum seekers, and their daughters Kopika, 6, and Tharnicaa, 4, were born in Australia.
They had been in detention for more than four years, after the expiration of their temporary visas.
In 2018, Australian Border Force officials took the family to Melbourne immigration detention, and they were later sent to Christmas Island as they fought a legal battle to remain in Australia.
The family had been in community detention in Perth since last year.
There were no other asylum seekers at the Christmas Island centre during their detention – just herself, her husband, and their two children.
Ms Nadesalingam said the loneliness was very difficult for the family to bear.
Ms Nadesalingam said the family was lifted by their supporters and friends, though the news of the recent death of her father had taken a toll.
She had not had the chance to introduce her husband or her children to her father, she explained.
Fortunately, the news of the family being permitted to return to Biloela had come within days of her learning of her father’s passing.
She believes her father will continue to guide her from the celestial world.
While the fanfare may be dying down in Biloela after their arrival back on June 10, the family is eagerly anticipating news from the Minister for Immigration, Andrew Giles, on granting them an appropriate visa to stay in the country indefinitely.
Ms Nadesalingam said the family's warm welcome in their hometown had restored their energy after an ordeal that saw them on the verge of deportation back to Sri Lanka.
During the recent federal election campaign, then Opposition leader, Anthony Albanese, made a promise to the “Home to Bilo” campaigners who were fighting to bring the family back to Biloela where Nades had worked in a meat factory.
On Saturday, the Biloela Civic Centre hosted the annual Flourish Festival and the family was given a warm welcome by an elder of the Gangalu people, Natalee Waterton.
On Wednesday, the family met Prime Minister Albanese, in Gladstone, where he assured them, they would be able to stay in Biloela “with certainty”.
Ms Nadesalingam said she wants her young daughters to grow up with proper values and be good citizens while Nades said he wants his children to give back to Australia.
As for their daughters, they both want to become medical practitioners, so that they can help heal the world, Ms Nadesalingam said.
Her message for those living with citizenship uncertainty is: “Don’t give up”.
“…fight for your rights without breaking any law.
“It is a tough fight, but never give up.”
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Priya Nadesalingam's exclusive interview to SBS Tamil:
