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You have to choose your friends carefully. If an empire can be brought in, you also have to consider whether they should be. In some cases the right answer might be to conquer an otherwise friendly neighbor (with conflicting ethics) and then release their systems as one or more vassals (with ideology matching your own) that you then bring into the federation, so that the federation remains a more cohesive body with ideals and goals that are more closely aligned.
Liberation Wars are very helpful and is the semi peaceful way to bring in hated empires.