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Ideally there'd be better ways for game options to be handled, like in HoI4...
You could play with console commands, but it won't always get it the way you want it.
add_opinion 3 0 1000
add_opinion 0 3 1000
So this for example changes the opinions of empires 3 and 0 (use debugtooltip to get empire IDs) by 1000 each. So that will put them to a level where they consider an alliance and then possible federation membership, but there are always lots of other things going on.
You could also switch to the AI empire ID with the play command in console. Like play 3 (where 3 is the empire you want to play as). Then you could use the "own" command to then expand the federation. The problem with this approach is that the AI takes over your empire and might do some crazy stuff in the mean time.
You could also mess with the yesmen command to force them into an alliance and then I suppose it would also work for federation membership as well, but again the AI will mess with your empire while you are doing all this stuff.
Trying to play with the add opinion is the safest way.
1: keeping the game paused while doing stuff as other empires prevents the AI from doing anything on your empire
or
2: use the "ai" command to disable AI, do what you need to do while unpaused, then switch back to your empire and re-enable AI.