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Some times that means you gotta roll with less than a full main army to afford as much, but that's a balance you got to learn/find out as the more skilled you are the less will suffice.
Sometimes i means you got to expand slower, build your towns a bit more first to afford building some defence.
Also barracks for some armies are a very good idea.
A small force in ambush stance can do a lot in some cases.
If you know you can't defend your territory only upgrade the capitals and leave the minors at level 1. You can get to level 4 settlements and your better units and defenses much quicker this way anyway. If you are expecting heavy attacks, use province capitals as strong points and put a second army in there to boost the garrison. It doesn't have to be a full army or even contain your best units, The towers and missile units are doing most of the work and you just need to make attackers hold still under the fire long enough to win. Don't be afraid to sally units out your gates to hold enemy blobs under wall tower fire or take out some isolated ranged units. Every faction fights differently and more mobile factions or factions that rely on charge bonuses often do better fighting outside the walls than in them.
If you get a settlement map with good choke points even a minor settlement garrison can pull an upset, like this one here.
https://steamcommunity.com/sharedfiles/filedetails/?id=3070141313
There is a bit of a difference depending on which factions and difficulty you play. I am sure others have suggested all the obvious things. So I will discuss some of the less obvious I suppose.
1) Recruit Lord + regiments or renown. In case of emergency, if your capital is soon to be attacked or valuable city you can always recruit one lord to that city, have him recruit all your saved up regiments of renown and fight off the enemy. AI tries to match players forces in 2 to 1 ratio so attacking army may retreat or if they attack you will have a way better chance of defending.
2)Direction and enemy run distance. When you are at war you should always try to make sure the enemy cant flank you so usually the AI shouldnt be able to attack your cities because your main lord should be in their way, plan your attacks in a way the enemy cant flank. You can click on enemy lords to see how far they can run, often enough that will let you predict where they might go or to see if the enemy will reach your city or not.
3) Defending as a blob. If your enemy does not have artilery or AOE spells which is often with AI bs scout armies, you can defend the city by putting every unit you have on top of each other on the primary defence point, it will force AI to surround you giving you huge advantage, your routing units wont really run off while surrounded, you can use defence towers with aoe and walls that have -to stats. I won some pretty insane battles this way, but its much much harder on higher difficulties since AI gets unfair buffs to leadership, attack and defnece making even basic tier one units rather deadly to nonspecialised army.
Feel free to add me to friends if u have specific questions, played this for thousands of hours I can probly help.