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If you have ten lords and give them each one fief, they will all be -8 net gain (+10 for awarding, -18 for other awards)
However, if you have five lords and give two fiefs each, that's +20 for awarding -16 penalty for a +4 gain. You count as a lord when you award to yourself as well.
So, generally speaking. Six is the magic number. One award, +10. Five unawarded -10. Beyond this, plan on doing a lot of hobnobbing to keep people happy.
It also helps if they are geographically coherent when dealing with their fiefs. If you're going for world domination, Try not to award more than 2-4 fiefs per lord and plan on doing a lot of butt-kissing to keep people happy.
The reason for this is that the Lords should naturally respond to bandit raids within your territory, but their ability to do this is null if you give them too much ground to cover and they can't reach it. That's something the AI handles VERY poorly, resulting in the entire kingom going into an economic death spiral because all the villages are pillaged and never get to recover.
When you found your own kingdom and get a few vassals, it's a good idea to make sure that each of them has land to call their own. As time passes and your kingdom grows into an empire, you'll have more land to share with your loyal commanders. However, due to the nature of the lords in the world, they are nearly impossible to please. If you have 3 vassals and give one of them a village, one of them will get a 10+ relation, while the other two get between 2-3- relation. While with three lords, it's easy to get them to a trustworthy level of relation after awhile, if you choose to expand your board of commanders, you'll find it much harder to please everyone.
It is very important that you keep them in the positive, because if they dislike you too much, they may ditch you, and take any castles and towns with em at well. That's why you should only give towns and castles to lords with a VERY high relation, not thoses with only a few plus points in relation. Until then, just give them villages. They can't take villages with them if they ever defect.