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I find that the hardest part is balancing expansion. In general, expansion is good, but there are some mechanics that make this require some pause. The more planets and systems you control, the longer it takes to get tech and unity perks. That said, as a general rule I err on the side of expanding, since eventually the map will fill up. Meanwhile, military expansion should be gradual but constant: you don't want to have to try coming from behind, and the stronger you are the less likely your neighbors are to mess with you.