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Subjugate in game does what in vanilla is called "Client State", where you get tribute from them and have an alliance but otherwise it's just an alliance and you can't dictate anything for hem. Releasing a nation makes it what's vanilla called a "Satrap", where you dictate their foreign relations. If you're at war with someone, they're at war with them, and if you're at peace with someone they're at peace. You may need to be the Emperor in order to release those factions but who knows.
Luckily, if you subjugate a member of the HRE, they will vote for whatever you vote for, so that is one way to become Emperor.