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https://www.reddit.com/r/CrusaderKings/comments/w8xpjpVideos for proof is in the link above, tried different things and have seen 4 different people (mainly siblings) inherit my Empire, none of them being my actual Hier.
It's elective, the electors apparently prefer some broke duke over your "actual heir".
You can either try to make the electors vote for your candidate (by making them like you or using a strong hook), or you can remove the elective succession law from the empire title.