Yes always bad. It is when a country views another’s land as their, even if that country or region does not agree.
You can’t “Invade” your own land, so they would call it “Annexing”
It is usually based on some historical claim that the lands were once considered one…. so it would be like Italy “Annexing” France because they were once both part of the Roman empire….but everyone else would consider it an invasion
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