The heirs won't breed until they're married (no literal bastards here), and unless you marry a foreign princess, they won't marry until after they're kings. When the old king dies, those new immature heirs show up. They can be of the same age as the older king, so you can have 2 heirs of the same age, where one goes up first on the heir list while the other goes last (the young "uncle").
I'm fairly certain that they won't suddenly appear as mature heirs, not sure how the game keeps track on that.
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