Idea...
A. Pioneers no longer settle towns, just outposts.
B. Each champion may settle 1 town, which bears their namesake.
You can mod this in.
The problem with things like this, and modding them in, is whether or not the AI will be able to use them or will it just not be able to build cities.
The AI will settle the first city and build pioneers to build outposts without problems. The thing is whether the game would be fun or will it gimp the AI to be ineffective. What the OP suggests is completely moddable and the AI will work in this context.
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