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I know certain missions will grant you an alliance with a given race, like the "warchiefs' challenge" or whatever it's called in Daros, but not all raceses seem to have a mission like that. I can' get the knights to ally with me, for instance, although doing the troll hunt mission got me to friendship level once (but not with my second hero, oddly enough). So basically I want to know what missions need to be done for which races in order to improve their opinion of me. Will doing repeatable ones enough times make a difference?
I'd really like an answer too. I have dwarves as an enemy, so they won't talk to me. This has halted the campaign until I can improve my reputation and with the dwarves.
There is some (incomplete) information on the wiki here:
https://etheria.fandom.com/wiki/Campaign
Though I wish the contributors had been less coy about spoilers. Some replies indicate that repeatable missions do influence diplomacy with some races at least.

There is also an editor which will get you out of a bind here - I can't vouch for it, I just know it exists:
https://www.gog.com/forum/warlords_battlecry_series/wbc3_campaign_diplomacy_editorhex_info
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Jabarto: I know certain missions will grant you an alliance with a given race, like the "warchiefs' challenge" or whatever it's called in Daros, but not all raceses seem to have a mission like that. I can' get the knights to ally with me, for instance, although doing the troll hunt mission got me to friendship level once (but not with my second hero, oddly enough). So basically I want to know what missions need to be done for which races in order to improve their opinion of me. Will doing repeatable ones enough times make a difference?
It depends on how you progress on the map. For example early on you can skip helping the Empire and instead go forward and help the lizard people. So if you want to get certain faction to ally you you should explore the map before you take actions that will result in angering one faction. Sadly i don't remember the exact paths for all the different ally options so you'll have to start a new game and experiment.