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Avoiding negative relations:
Do not enter humiliation wars with anyone (including from the defending side, never decays).
Do not enter war against them.
Do not claim their systems.
Do not spy on them or counter-spy at home (decays very slowly).
Do not build outposts along their border (small penalty, but Romulans have extra border friction).
Have open borders (-20 if closed).
Improving relations (easy):
Send envoys (faster with more, but the cap is always +100).
Increase trust via commercial pacts etc. (cap is +100).
Defensive pact (+20).
Warp share agreement (I haven't tried this so it's a maybe).
Safe haven for deserters aka receiving an immigrant from them (~+90 and decays slowly).
Favorable trade deal (cap of +100 relation at +100 trade acceptance. Rare resources is the most economical way to do achieve this).
Set diplomatic stance to cooperative (-50% border friction from you, their's is unchanged).
Improving relations (hard):
Filling the mission progress bar during a war and getting the event with the option to improve relations with all other empires (mission is once per war, might not be the event that triggers, and can be sped up with influence. +50 relation, stacking and decays slowly. Do not do humiliation wars or it is a net loss of relation).
Destroy the pirate dreadnought (+200 with everybody).
Destroy your own outposts to reduce border friction (very small benefit, but can get you the last few points)
*Some of the above are effectively doubled because of both empires perceiving it.