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This stuff isn't in the game yet, I wouldn't bother with your own kingdoms at all until they actually put something in it.
But they won't become real vassals and you won't be able to give them fiefs though.
How do you command those parties?
Just remember your food supply and cohesion will go down super fast when you have an army with you so you can't form a huge army for very long.
Vassals are always just another clan within a kingdom - only the head of the clan actually owns fiefdoms, not the other clanmembers.
If - at some point - it would be possible to "uplift" a companion to a clan leader, he'd just become another lord within your kingdom, but wouldn't be a companion or member of your clan anymore.
Which would be pretty much only useful, if you can't get any foreign lords into your kingdom.