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https://ck3.paradoxwikis.com/Laws#Authority
Basically the third level prevents internal wars, and the fourth level prevents external wars as well.
Additionally there's a vassal contract option for sanctioned war declarations, completely negating the authority law for vassals with this type of contract.
Note that Crown Authority only affects your direct vassals. If you want this to affect all realms in the hierarchy, there's this mod
https://steamcommunity.com/sharedfiles/filedetails/?id=2692957667
It also has a game setting to make Tribal Authority work the same way.
1) give them vassals more land. If they are stronger, they will attack their neighbours. If they are full on personal holdings, I find they wont. Find the sweet spot. Giving them a duchy that you dont have all of will give them the CB for the missing land
2) give them your extra monies. Money is part of the AI declaration criteria as it will factor in possible merc hires.
3) Reform your faith to give them more targets for Holy War