They were open borders which anyone could cross unless opposed by superior force. Like any border. They were also long – from the Rhine-Danube across Europe, through Asia Minor, the Middle East and along all of North Africa.
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This is a rarher big ask requiring more soldiers than Rome could possibly maintain. Force had to be supplemented by diplomacy where this could work. The emperors from Augustus onwards used both, but as the centuries wore on, the masses of peoples moving across from the east overwhelmed the defences.
