The game is based on STW, so the whole game engine and game design is based towards "going to war".
I don't think it is. Doing this has it's ups and it's downs. By removing unsuitable princes you are cleaning up your royal line, but you're also making it smaller and less secure. It's a trade off.
When bumping off unwanted heirs, if the victim has very low loyalty, first try a treason trial with a spy and use assassins as a last resort. This is a good way to train up your spies.
Well personally I prefer that the game chooses it for you. I like the fact that you sometimes have to live with these useless kings and heirs and make the best of them. Turning a bad family line around can be a good challenge as well.
In RTW you can choose your own heirs but you can't assassinate them if they seem somewhat lacking. Also your pool of generals is restricted to only family members that all command the same faction specific heavy cavalry or chariot unit. You cannot simply take a unit out to battle and have it gain a star and become a general. These unit leaders are known as "captains".
When playing MTW I will often "reboot" my ailing family line with a civil war. It is a case of ensuring that a disloyal general with great stats is leading the rebels and that you back him. This requires some preparation. You need to ensure that the disloyal are many and that they are controlling your major provinces. The loyal should be isolated in your minor provinces or placed in separate stacks in smaller numbers in provinces with larger stacks of the disloyal. Personally apart from choosing the heir and making sure that the "capital" and any other key provinces are reasonably safe, I just risk the rest.
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