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Each non-horsed unit can handle 2 animals, and each horsed unit can handle 1.
So if you got 200 units, 100 on a horse and 100 on foot, you start getting herding penalty at 300 animals. All animals count towards this.
Time to go raise an army of Fians and Legionaries again.
with a party of 100 infantry, you should have 100+ riding horses for max party speed and you can have between 0-100 other animals without getting the herd-debuff.
I sell off or slaughter excess horses to avoid the herd debuff. I also usually sell or slaughter other animals if I looted sheep etc. in battle.
When my inventory is too heavy, it's almost always because my party is carrying thousands of grain they looted from defeated armies. That stuff gets heavy when you carry too much of it. Having a few weeks of food for long sieges is reasonable, but there's no point hauling enough food for the next 3 years around