Here's a quick description of three out of the twenty realms in one region of my sensual psychedelic mythopoeia D&D(/etc.) setting, the continent of Aoqina:
Furthest west, there's the human nation of Orvad. Humans are one of the youngest lineages in the setting, formed a few centuries back when a gnoll tribe attempted to excise all the domesticated, obedient, tame things about themselves. Only hyenas and humans left the site of the ritual; it's assumed that humans got all the things they were trying to shed. In Orvad, the humans developed the idea that, if they were bound to be obedient, freedom could only come from choosing to whom & for how long they would obey. It is thus a nation of lawyers, mercenaries, & laborers that deeply values both excellence (to justify a better price for their servitude) & negotiation (to get it). Even the Orvadu ruler is technically bound by a contract, only it is held by the populace as a whole.
Orvad borders the land of Natsiyaasim, which was founded by the grandson of the archangel of the Dawn, son of the king of a nation far to the south. His father was the last one to die in the Ttoi War on the shores of the Hemeya Sea where the minotaurs once ruled and where the minotaurs once drowned. Imye was born from blood mixed with tears and gestated in the dust of the earth, & when he was imprisoned, 7 angels left the Heavens to free him with the pleasures of their body. The Asimar of Natsiyaasim follow "Love as thou wilt" as their highest law.
To the southeast of Natsiyaasim is the Holbytla peninsula, home to the halfling Holy Holbytlano Empire. Descended from the Gnomic Dynasty that once ruled the dwarfs, the rulers of the HHE have largely forsaken military ways (tho they still have an army), seeking instead to conquer with marriage instead of swords. They also see themselves as food for the gods & life as the process of cooking themselves. When a halfling is fully cooked, they are often sacrificed to make sure they don't spoil
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