Difference sets in $\mathbb{R}^d$

Let $d \geq 2$ be a natural number. We show that $$|A-A| \geq \left(2d-2 + \frac{1}{d-1}\right)|A|-(2d^2-4d+3)$$ for any sufficiently large finite subset $A$ of $\mathbb{R}^d$ that is not contained in a translate of a hyperplane. By a construction of Stanchescu, this is best possible and thus resolves an old question first raised by Uhrin.