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I typically do the 3rd authority, high I think, since it will increase the taxes but only give a small opinion malus unless I'm trying to move to a different govt type in which you need all 4 authorities I believe.
A big threat to your empire will be succession until you get a favorable law in place, also try to keep the strongest of the empire vassals happy and it'll help keep the empire together longer. Don't lose heart if civil wars happen though, its a chance to purge the dregs and replace them with loyalists. And swaying people can save you gold from bribes.
It actually says "-30 direct vassal opinion", while lvl 3 tribal only gives -10
The opinion penalty from being unreformed is always there
crown authority 4 gives +30% taxes and the ability to designate heir on top of stopping vassal wars but you get a -30 opinion which is actually relevant but entirely easy to manage by maxing out court aneminites and grandeur while focusing on stewardship to get the perks that give a +30 to opinion
Personally I always stick with crown authority 3 and leave it at that since money is never a problem and I used other methods to make sure my inheritance goes smoothly.