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Something that I cannot fathom and that is almost certainly a contribution to their eventual demise -though of course in a rather roundabout way- is why the Polish-Lithuanian Commonwealth failed to annex the Teutonic Order after the Battle of Grunwald, or any time thereafter such as the Treaty of Melno or at the Peace of Brześć Kujawski. They had like four or five chances to annex an emasculated and completely defeated enemy and never did. Before anything else; why?

That aside, what if it had been annexed? Under what circumstances would this need to occur and how would it affect the Commonwealth thereafter? Would it still falter and fall apart after the end of the Jagiellonian Dynasty or could this present enough butterflies for Poland to remain in existence in some form until the present day, perhaps even as a great power.
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