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You do have to build your dungeon, collect resources, and capture prisoners first.  You also tend to have to make them  like/love  you too.  It is not actually hard; it can be as simple as improving the environment,  talking, getting them gifts, and even feeding them fancy meals. 

You wait till they love or worship you then you ask them. You can get there by giving them gifts, asking them questions, feeding them, talking to them, and making them orgasm. They will also grow to like you on their own if given enough time. 

I am running the current version of the game, on windows 10, no mods, downloaded clean and unzipped into it's own folder,  not using any unofficial ports either. The problem with the mouse navigation does not happen all the time nor with all the locations in a system. It is all of the systems though. It usually is something like the station, but once again it is not everyday or every place, meaning every new day there are places that you can't get to with the mouse alone and it can and does change. You are playing the game, then you click a location to travel to and it looks like you are, but you just don't for some reason and you have to use your key board to get there. You can high light it with your mouse and hit enter or move the cursor to dead space and use the arrow keys to highlight where you want to go then hit enter.

Also for whatever reason the mission screen for Quthor does not show up after you get authorization to navigate the system and trading privileges. It does show up a lot later, sometime after you get the map fragment, but that was on the previous public release, 1.50,  I have not made it that far on this play through so I am not sure if that still happens.

Below is a link to a save file if it helps. 

https://drive.proton.me/urls/RWHW1R9SRC#N5iPTbjzYIDa

First off, I do love the game. The various sci fi references are hilarious. I am running into a problem where I cannot go to some places in Iltari when I started a new game after picking up my multiverse pod, random places get soft locked. I click on the place and there is the traveling animation but nothing happens I am still back where I started. I can click on and travel to other locations just fine, but randomly places like debris field do not work via mouse alone. Thankfully you can still use the keyboard to get to these places, it is still a weird issue though.