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During battle I haven't noticed any def armies respawning. If will be replenished normally over time.
The cost & time to recruit can yes improve with techs or advancement benefits. I was originally going to do something similar, but thought that would make the techs partially useless.
Partly also because other mods change a lot in this regard. Like for e.g. AA's Invasion! Mod. AA's mod is why I have the tanks, for example.
I don't want to mess with the army files for now, because I don't know yet what effect it all has on other things. Morale is just an army file-independent modifier.
When I played, I also commissioned several armies before starting a war. When I had enough money for the upkeep. There you need
at least over 1k strength in the beginning. At first, the long recruitment time also annoyed me a bit, but not in the long run. (before patch)
So I also used other planets more to recruit armies. In the end you had a bunch from all colonies with different experience & training levels. Which was also more realistic. Normally Super Veterans don't spawn everywhere automatically. Unless you build just academies & such.