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No.
But there are mods for unlimited domain.
I don't know which ones are updated or not, I looked through the workshop and many looked abandonned.
Yes, I've had a look and couldn't find a mod about it. Vassals can cause problems even though I have 100% relationships. That's why I don't enjoy the game anymore. It would be better if there was a mod for that. My 35 hour save file was unplayable.
You can play without vassals even at the empire level and with ironman+achievements but it causes some massive issues.
Number one is that vassals are absolutely critical to the game's balance mechanics. Aside from the enormous boost to levies and taxes you also get full control over duchy buildings and that's really what breaks things so much.
If you don't really care about that then there's quite a few no-mod and achievement friendly ways to remove all of your vassals.
The easy but slow way is to start small and just go full auth/dread as a martial main and revoke as you grow. The domain limit can be largely ignored because even with the huge debuff you're still getting more benefit from direct land payout than from feudal obligations.
Another popular method is to have a single vassalized king that you can imprison and then grant all of your other vassals to. Then keep removing his duchy/county tier titles as these vassals try to keep him landed by granting him theirs until everyone's unlanded but you.
Obviously this requires having an empire title but there's several easy ones like Bengal which can be quickly nabbed from an 867 start without ever even raising troops.
PDX might have put a stop to the imprisoned ranked vassal method, I heard talk awhile back that they were maybe considering it, but I know it still worked a few patches ago.
edit:
Here's a video of a player using an extreme version of it to get direct control over every inch of the HRE.
https://www.youtube.com/watch?v=inGFzJizXKQ
Vassals are crying babies+broken. Even if your relationship is 100% positive, they can randomly wage war. Also me 35 hour save file was unplayable lol .