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There is no way where you are AI are in the same region and only you get penalty.
Probably what you mean is that you move armies out of the road then they get casualties from crossing desert, as AI is better with sticking to the road.
To get other armies out, if allied, give them attack orders, if neutral, attack them as what they do is equal to raiding you.
There are no infinite armies for AI, as in, they just recruit in same manner as the player so beating one army will free up resources for the new one. Otherwise there would be no challange at all as if AI would not field new army for 10-15 turns, then palyers would complain that they just walk through AI lands without opposition.