I've "met" two AIs, although I don't see their borders and I've never seen any of their units.
After I've settled my second city (on a coastal peninsula), one of those AIs felt betrayed and declared war.
Why?
Well, 20 turns after that (still without ever seeing a single unit or even the borders of that AI empire) I've suddenly earned the respect of that AI and they wanted peace.
Was it the fame I got through completing quests that did that, I wonder?
N/A
Also some sovs are basically crazy. Check what traits they have in that same window or thereabouts... there is one called Unstable for example that can make them declare war and do fairly random stuff.
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