Dividing troops (F7 button)

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In bannerlord there is an option to divide your troops, in battle, to different groups in order to control them separately. I am such a fan of this thought. It gives great dept to the battles.

However its so impractical to use and so lacking, it is frustrating.

1) I would like to choose which of those troops to divide

2) I think its not possible to merge groups
 
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