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It is ridiculous because it is not true. You can join them as they can join you.
Have you tried attacking an enemy stack using your stack with the AI stacks nearby? Because at the very least I have gotten my vassals to help me clear out neutrals from time to time but that's the extent of our alliance.
No, I've not. I will try.
In these situations position is relevant so that your stack appears closer than the 3rd stack of the allied army.
There is limit of 3 armies per side, and I believe the 3 strongest armies per side get auto selected if more are within the reinforcement radius.
Anyroads, I can assure you, they can join and let you join in battle. Most likely depending if it is beneficial for them or not. They work exclusively with numbers, and if their armies's power values are higher, they might choose not to use yours.
You can also always deselect armies from the battle prognosticar screen for various reasons.
For that one I had my units in a horizontal line with the vassal at the end, but it didn't pull it in. Then when an other stack headed towards me, I rearranged so we were in a triangle with me, vassal, me. That time, they joined!
Well I guess it can happen. thanks people.