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And it's normal for the A.I to vasalize everything it's normal/meta since the A.I improvements with Overlord.
You have 1 Empire. That fight. Lost their fleet - then they got "underwhelming" in fleet -> AI like 10000 systems away make a vassal out of them. There should be a blocker for this
The more AI's you play with on a smaller map the more likely they will become vassals. Wars create weak or strong nations which cause even more vassals. The AI tends to expand when their is free space instead of war.
You can accomplish it as well, its just because the way PDX creates number values for everything, if you have a large fleet early they tend to submit, later economy pumps up your "power".
Yes I can take over the scattered remains of an overlord start but it's a bloody drudge.