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Do the minors ever upgrade their tech levels? On my current start I was surrounded by minors and have yet to encounter a major. Once my military was bumped a level or two it has started to feel like late game 4x mop-up just rolling over their militia troops. Do they have access to any form of military progression?

AFAIK the minors never upgrade, only the majors.

According to the manual, in the section about the different rules whether you're a player, an AI major or an AI minor, their units are able to get better over time, the question being how fast this happens.

I'm about 30 turns into this one and all that I am seeing is Rife Militia. But also am playing it on the Slower game pace settings and not sure if that is also a factor.