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Unless it's been changed since i did it last time, all you really need to do is make sure they like you a lot before you let them go.
In a nutshell don't release them too soon
Since i only give them 1 planet/habitat, i always gift them thousands of basic resources and some alloys/CGs, just so they don't starve and can build up their capital. This gives a huge opinion bonus and you can trade plenty of favors, too. IIRC the opinion bonus is capped at +100 acceptance, don't remember.
Also make sure you start them with your founder species, this gives an extra opinion bonus.
For reasons why they don't immediately want to join:
If you are (fanatic) xenophile, they will be too. So there is nothing speaking against the federation per se.
Check why they don't accept it right now - AI Xenophiles can randomly use a pacifist war policy (although this isn't default), so this may give -50 for "war policy allows wars of aggression". You can change the policy to defensive, and change back to unrestricted after 10 years. Or wait until the acceptance goes enough positive on its own.
Of course if you are e.g. xenophobe, militarist or authoritarian, this may not work at all.
If it say "distance", this may be if you abandoned an outpost to give them only 1 system (otherwise they may get a full sector of YOUR space). Rebuild the outpost you deleted, the distance penalty goes away immediately.
Perhaps other reasons i don't recall. Either way you can always get +50 acceptance from favors. And don't release them in the vicinity of other empires so they don't ask them for vassalization
so
have a "sector" be a single system, and release
a sector ONLY connects to connected systems
have a single isolated system with a planet, turn that single system into a single system sector
release
If I create a sector, it automatically expands to ALL connected systems, because all systems are interconnected, more or less. How do you isolate a system from all other systems? Deleting all outposts surrounding that system?
or just building an outpost in a system not bordering your other systems
Like cmon man, i feel like i'm spoon feeding this to you at this point
the devs didn't like that
so they decided it'd be best to to have all sectors be the same arbitrary size