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I do have a claim on their world tho, not sure if that makes any difference. I haven't gone to war with them, so i got no truce.
My current save has no mods.
Even if that star wasn't claimed, they passed through 2 systems with planets I control that have the FTL blocker thingy on their respective stations which even makes me question this even more.
The Speculative Hyperlane Breaching technology enables science ships led by a scientist Leader to travel directly to a destination, ignoring the hyperlane network. During the transit the ship is considered MIA. Experimental Subspace Navigation can be used to bypass impassable areas such as a guarded system, a closed empire's borders or the galactic core.
Thats probably it assuming that the AI can use it
Experimental Subspace Navigation doesn't allow science vessels to jump into the territory of another empire that has closed borders to them. It can allow the vessel to bypass a closed empire's borders by jumping to the far side of that empire (ie jumping over the wall), but it won't let them actual go into or through systems they control. So while the AI can use ESN, ESN won't explain what has happened in this case.
I can see from your screenshot that you have closed borders with the owner of the science vessel (Free Xeltek Sovereignty). However, I can also see that you are at war with another empire, and that empire is the overlord of the FXS.
My guess is that your enemy became the overlord of FXS after the war had started. This created a situation where your borders were forced open to them (because their overlord is at war with you) without actually putting you into a state of war with each other (presumably because that state change occurs only at the start of the war, which might be a bug). If I am correct, then even though your borders are officially closed they are able to move through your territory (and you through theirs). That state would last at least until the war is over, and then possibly also for the duration of the truce after the war.