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Throne room of appropriate size, furniture and impressiveness (must be clean and lit at all times)
Bedroom of appropriate size, furniture and impressiveness (must be clean at all times)
Lavish meals
Correct royal apparel or powered gear
Level of authority gained from reigning
Their decrees must be satisfied
They should not experience anything upsetting.
My royals already got fully stuffed room and throneroom. At least I gon no tasks in right corner of the screen, and no related debuffs, I guess except this one.
Give them everything they need and their debuff will be more than compensated by the positive buffs they'll receive.
In the base game Expectations eventually just becomes 0. But Royals are basically your colony's expectations +2 because they're, well, Royal. This means their expectations will actually infer a negative mood at high enough colony wealth.
Meaning, that people will expect more from the richest colony on the rimworld than some dump.
That's why you get higher and higher expectations the longer you play.
For example, here's my current colony...
https://steamcommunity.com/sharedfiles/filedetails/?id=2030448415
In one of the menus you can see a graph of your colony wealth.