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This will come with an update in the future.
I'd argue its more "real", even though historical accuracy isn't top priority in the game, this part at least is more realistic, they are vassal kingdoms. And they will come and help if you have strong relations with them. Problem is like most ally kingdoms AI, they suck at coordination and sit in their pretty province doing nothing if there's no guarantee of winning.
So what's to gain from having a vassal except income? Because all the rest u can get from any other kingdom which is not your vassal. It's not real cause asfaik vassals couldn't fight separate wars without allowance from sovereign, and they were obligated to help in time of need, disobeyance was resulting in punishment and was treated as betrayal - none of those exists in the game. They are completely free to do whatever they want and only pay tribute. This does not make any sense.
They're good to have if they accept the offer, sometimes they refuse to give land/gold but will accept vassal, and sometimes they give 100income as part of it. Unless you're absolutely 100% sure you can take their land by force+sustain the rebels+cost of disorder, then having them as vassals is pretty good.
They accept vassalage quite a lot of times in any given war, and you're not always in shape to continue a war yourself, as it puts you at risk of others declaring on you and you're not ready to defend. It depends basically.
But if you want to start a war exclusively to vassalize its probably not worth it no. It also relates to my issue of ungoverned cities giving only 10% of their production, meaning its more profitable to simply get vassal income, and the "iron fist" tradition gives a lot of bonuses towards that (albeit with some negatives as well).