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If I understand correctly, kingdoms improvements may be back ported, if that's the correct term, to empires eventually.
I would recommend getting empires, it's a great game in its own right.
I'm not sure if you are aware, but if you own FOG2 ancients, you can export your battles to it from empires, and fight them out in more tactical detail than empires allows, though I find the in game system in empires very satisfying myself.
The same goes for kingdoms and FOG2 medieval.
Thanks! Everything is clear now ^_^
Now, everything has changed so much. You still have buildings, sure, but they are all new; you build castles progressively, you have Piety and Stewardship structures, Trade is quantitative, etc.
You could say that vassals are basically client-states from Empires, but this again has been reworked extensively; you can now directly control their troops, get multi-choice decisions about them, and so on.
So even existing systems are vastly different!