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How did fiefs become hereditary?

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In feudal society, the transition of fiefs to a hereditary status occurred as the rights of vassals over their land holdings expanded over time.1

Initially, fiefs were granted in return for specific services, but they eventually became hereditary in the sense that a lord could not withhold investiture from an heir who was willing to perform homage. This development solidified the expectation that the land would remain within the vassal's family line.1

To manage these successions, specific customs and rules were established:
* Inheritance Rules: Systems such as primogeniture were favored to keep the fief undivided, though younger sons might receive portions of the inheritance as compensation.1
* Feudal Incidents: When a fief was transferred to an heir, the successor was typically required to pay a tax known as relief.12
* Escheat: If a vassal died without an heir or committed a felony, the fief would revert to the lord through a process called escheat.12