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I'm having a similar issue, using this faction as well. Took a vassal with my commander joining and now can't change his role and he can't be moved to any outposts, only vassals. Wonder if you have that same moving problem as well.
I have included screenshots of the mods I'm using. (I'm not sure if there is a way to export them as text in vortex) I don't believe any of them use the R key and I looked at the pages to see if there was any mention of that key being used.
While @lucketmi 's issue seems to be due to another mod also giving interaction options with the npcs and blocking the Conqueror role change, I think that @Skellyman 's issue is related to how the Baron works with his commander trait to join in assaults. It seems that he can get snapped up and made a part of the vassal population. So far we haven't been able to replicate this, though. And I unfortunately don't have a solution for him being stuck there now. If he has been turned into a "civilian", maybe the Motivation stick from the Conqueror patch 4.2.8 can induce him to move?
I just started playing again and have the same issue. I haven't tried the "R" key, and will try it next time I play. (Didn't remember it.)
I have the same issue with at least one other interaction-adding mod, What's Your Name. I'm working around that by using a hot key set up in MCM, so hopefully "R" will work with soldiers.
I do see the "Track Items" interaction prompt added by, I think, Workshop+. I wonder if it is the source of the problem?
I had this same issue when playing with Horizon as well. I think Horizon 1.8 adds an option so that if you crouch you get access to the alternate activations for soldiers and can set their roles that way. Hope that helps!