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Eldorian

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Build the first money producing upgrade for them, or send them some money using gifts. They'll upgrade existing plots, and build new holdings according to an "AI creation factor" in the building document.
 

Dragnar

That guy with the thing
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Not raising taxes for the first decades, so that your vassals have more money to build the first income buildings is generally a good idea, too.
Better to get 10% from high income and levy numbers than 20% from low ones.