Is it possible to avoid being invaded just by having good relations?

[Arcvalons]

Example:
Germany becomes friends with France, and France doesn't try to take back Alsace-Lorraine every five years.
or
Mexico becomes friends with USA, and USA doesn't try to take chunks of 'Manifest Destiny' every five years.

[Connor Mulhern]

with the ai, mostly yes, unless there is something they really want from you (so cores, they will try to take back, but less often), but with the player, no, +15 relations for two points vs -25 for one point