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In my experiance:
They raid the enemy but never attack cities.
They seem to use the ai from planetfall.
Aka the dont risk your units ai that refuses to fight anything dangerous.
They also seem to hate attacking cities.
When the enemy showed up with some stacks to cause some mischief they sat at their cities and watched.
When I took stacks to lay siege to this enemy and put an end to them my vassals sent exactly zero units to help out.
From a war perspective vassals do absolutely nothing whatsoever.
I was hoping we'd get an option to set something like a war co-ordination target to at least direct our vassals into some form of action every now and then, but as it is they just exist for some passive income and recruiting units from them every now and then until you can absorb them (and maybe an early warning sign against enemies due to their shared vision).
EDIT; i just signed a defensive pack with an Ai lord (not a vassal) cost me 350 glod , the Ai just decline the call to war when i got attacked NEXT TURN lol , i now have a ridicule .. 6 grievance ... 350 gold lost and an useless traitor ally ...
Diplomacy need a bloody rework , even worst than total war wahammer
But it does seem like you could do something along the lines of an if/then statement.
For example: if the enemy literally walks into your territory then attack them. Or if your allies are attacked then attack the enemy attacking them. Or if your allies siege a city then join the siege.
And how do I know this is possible? Because I regularly get help from my allies in Imperiums: Greek Wars, a game made by exactly one guy.
Here's the chef's kiss on Imperiums. The allies settlers who act as workers, they even show up in my territory and build improvements like roads and farms.