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The requirements for this mission to show up are:
Austria is not a subject nation.
Year is at least 1500.
Hungary:
Is not a subject nation.
Is not the Holy Roman Emperor.
Is a neighbour of Austria.
Does not have more provinces than Austria.
However, the Hungarian AI sometimes chooses to take a Hapsburg immediately instead of having Janos as a regent. This puts them under a PU with Austria as well, but I've never had it happen when Im Austria.
At least I believe that is how it is supposed to happen to get the early PU.
You can however claim both nations thrones early on when they have a Hapsburg and no heir, this is a way to get a PU over Bohemia especially early on.
You can also get a mission Restoration CB on Bohemia, the mission is called "Bohemia must accept Austrian overlordship"