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so yeah,not sure about joining
i guess having shared rivals could also help (if they do have rivals) and they would be more likely to invite you if some 3rd party becomes a threat to both of you. but that's outside your control.
All your suggestions worked: a while after the OP one of the 2 empires (the most distant and less likely to accept) changed ethics towards mine, at which point the conjuncion of:
* outpost near their borders
* rivalry on their only rival
* a massive tribute via trade deal
let me in. I didn't know that the outposts counted as actual empire borders, but it actually makes sense.
I also read somewhere that all members should be positive about the joining of a new member, but it seemed to not be the case so, again, this may only be needed when it is you inviting another empire.