All of these things can be tweaked or negotiated to increase gains at the price of loyalty, or vice versa. Whether vassals are allowed to be free, expand on their own, and the tithes asked of them are major factors in vassal attitudes towards their overlords. Vassals will operate willingly as long as the contract isn't one-sided or otherwise undesirable, and either side may have obligations to uphold. Now, subjects and overlords operate on a contract made between each other, called the Terms of Agreement. What once was simple is now a nuanced contractual agreement that can be fine-tuned in many ways. Good news too while the expansion does add a lot of depth and nuance to the system, a free update also brought some of Overlord over to all players with the 6th Anniversary "Cepheus" update. Getting vassals is not new to Stellaris, but it has been very much overhauled in the Overlord expansion.
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