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What was your Right to Rule when you founded your kingdom? Maybe if you have a save from back before that you could spend more time sending out companions and other things like getting married to raise your RtR.
Are you sure you have prisoner towers in these cities and you put the prisoners into the dungeon rather than leaving them in your inventory? This escape rate you speak of sounds like what you find with low Prisoner management and in your party.
What is your prisoner management skill at?
Last thoughts:
- Release lord disposition types that will make good vassals for you later to raise your standing with them and honor/rep. I even take cunning ones if they have family members which will be my vassals.
-You might look to see if old tweaks would work to change the prisoner escape chance and lower it slightly.
- Possible they messed up this rate
I also did a bit more research, and heard that increased campaign ai actually increases lords ability to regain their troops. Is this what is causing the massive respawn?
More about this subject: https://pop3.fandom.com/wiki/Prisoners
Nobles can replenish armies only if they have money - look for "wealth" on given NPC page. If they have good fiefs, they can accumulate resources for later and pay for reinforcements. Fiefless nobles gets 1000 denars allowance, which is enough to get only crappy soldiers.
King has Lion chapter in Sarleon - gets extra troops from it, on the top of normal reinforcements. His army will be big as long as he can pay for it.
So it is possible to e.g. attack caravans, ride villages to damage enemy kingdom indirectly.