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Although difficulty doesnt change how the AI works, it will help. The main issue on why AI doesnt have good military half the time is because of a few problems.
1) Barbarians: Iirc the barbs scale with the tech leader, which is usually the human player, meaning the AI's army is dealing with too strong of barbarian camps
2) Diversified Building: the AI wont usually focus on building a military (so even an corps/army is less likely) unless at war, (theres one setting that allows you to see total unit strength/gold/science per turn/culture per turn for refrence). And without gold to rush buy unitis, they lack being able to get a military going.
3) Tech difference: Much like with Barbs, the tech difference really showcases why fighting a musketman with a Fighter jet makes war seem simple.
A supplementary fix would be playing on higher difficulties. The AIs get a large handicap via resource output, more starting cities (both of which means faster production, and research) and that in turn gives them the leeway to make strong militaries even after making suboptimal plays, and a passive dmg boost to all units so if they dont make armies, they still wont get 1 shot.
Also concider instead of random civs, pick the AI civs to be more militaristic, and pick a map that would give them a "home field advantage" such as a Island map for Navy focus Civs.
If all else fails and you just want to fight things, consider the Zombie mode, where units that die can spawn into zombies, and they get progressively stronger as the game progresses.
You can adjust these mods in the game creation options, too many resources for AI might make things frustrating, depend on your play stile.
I really like how AI acts in this mods, you might have to deal with Nukes tho.
But it depends on how you play and what kind of victory you focuse.
This mods are more for battle agains AI, if you don't have many hours to play, i recommend using also Faster Game Speeds mod
I don't recommend going above Deity until you understand how AI progress, since they become very hard.
Don't try vanilla, it will offer enormous amount of military in the ancient Era, then Xbows in towns and wont upgrade their troops in Atomic Era. It is the worst experience
They do but very few, and at some point AI will break and do nothing, the game is not designed to go beyond Future Techs.
The mods will do enough changes for AI to become far more resilent and even effectively attack you.
(They'll also build a lot when you attack, but often they havent built because they are confident they can outbuild you and/or defend themselves if it comes down to it because they're not wasting early game resources preparing for that unless they have to.)