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Doing infiltration actions gains you experience, raising your infiltration skill. However, how much experience you gain depends on the danger level, which - among other things - depends on diplomatic relations between your realm and the target realm.
- Attacking your own realm, or allied realms, gains no experience whatsoever.
- Infiltrating a realm you are at peace with gains very little experience.
- Neutral realms gain you half the experience
- Realms your realm is at war with gain you full experience