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You could also swear fealty to a neighboring Kingdom until you are strong enough to survive on your own.
Having a ruler, spouse, and/or marshal with high Martial helps as well. In particular, a good marshal can use the Raise Levies councilor task to increase the size of your levy by a multiplier, which helps to deter invasion (or hold your territory if one comes).
Allies can be a be a way to keep people from attacking you, but they are not reliable.
Basically the only way to avoid being attacked is to always be stronger then your neighbors.
Easiest way is to ensure your domain is as large and built up as possible.
Plus if you have a neighbors that is stronger, a quick fix is a marriage between rulers families for an alliance.
Less nice ways is destabilizing their realm via killing their rulers which can spawn succession crisis, or fragment their realm due to inheritance. Plus breaks alliances.
Finally, the AI really likes using boats which can be annoying. It is why I personally prefer more inland capitals for my empire. Mostly since it makes a random AI army blizing the capital after taking a long ocean trip less of a thing.
There's a whole lot more you can do and the above comments also have some great ideas. Mix them all together and see what works for you.
2. Stack cheap effective maa archers are decent for this.
3. Pick you weakest neighbor and take their county.
4. Rinse and repeat.
also you may want to pledge loyalty to neaby kingdom just to start independance faction and break kingdom from inside.
Or if you don't want to deal with being invaded at all, then just play a vassal to a strong empire.