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Feudal empire's can use vassals to cheap expanding tools and early game meatsheilds.
And total war empire's just want you dead and dont care about the poltical fall out.
First contact wars is the militarist policy where you can shoot against any empire you meet before you decode the communications, how does that get you vassals?
Also, if there is a specific choke point you absolutely “must” have...beeline to it with a survey ship on explore then backfill with survey. Meanwhile move your fleet to the choke and wipe out all comers. If they can’t survey the entire system you never even need to worry about the construction ship.
Meanwhile, the only penalty for you is a mild diplomatic penalty once communications are established.