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Vassals have lower income due to having to give a portion to their overlord so you won't often see them building higher than tier 1 unless they are holding on to a large amount of gold so often times you have to gift them a large sum of money after every tier is completed. There are mods that make outposts free to build and they will always build them with those without you needing to give them money gifts.
Here is a mod I tested a while ago this year that you could try that would cause the AI to build outpost real fast and for free:
https://steamcommunity.com/sharedfiles/filedetails/?id=3285221337