I've done enough with engineering AI and optimisation to know that civ5 is an enormously simpler game, and enough about the "curse of dimensionality" that kills most amateurs ideas of what is possible. What's possible for that game is not directly relevant or comparable to Civ6. Bolting some successful part from VP doesn't mean that it will just slot into Civ6, R&F, or GS without a huge amount of testing to determine whether there are consequent bad side effects, and whether it can run in an acceptable amount of time per turn.
There are some things that can still be tweaked that seem fairly binary (correct me if I'm wrong). One thing is that AI puts too much emphasis on not loosing units. This is on paper a sound strategy, but often hold AI back from doing actual damage to the human player. This is quite evident when you compare AI civs to AI barbarians: The barbarians will sacrifice any and all its units to kill a player unit, which makes the barbarians a real threat and nuisance. Imagine if the barbarian units could heal and get promotions ...
I know you can't extrapolate from just one point, but I had a very clear example of the AI prioritizing wrong in my last game (where the AI performed remarkably well all-round, and which I would probably have lost, if not some sort of mod error made me fail to finish it). Anyway, I was starting on eastern coast and soon found Australia to my immediate north-east. I decide to forward settle the only empty spot between our civs and quickly put up an encampment and build walls, because I know this will not please him. Sure enough, just before I finish walls, he shows up with 4 warriors, 2 archers and a battering ram(!) and DOW me. We're still in ancient era, and my only defenses are a slinger and two warriors. I manage to finish my walls, but he immediately destroys the walls on the encampment with one warrior and the battering ram, moving on towards my city. In a couple of turns, walls on my city are also down (battering rams are so stupidly overpowered, and this is first time I've seen AI use it so effectively), and while I spam out warriors in Edingburgh to move in, he soon has my city down in red health.
At this point he has one or two archers left, and two warriors who are both down in red/yellow health. If he had been willing to sacrifice one of the warriors, he could have taken the city in the next turn. Instead he moves the warriors out and put them to heal, leaving the battering ram undefended. A few turns later, he agrees to make peace (costs me my only tea resource). If he had taken the city, he would have lost one warrior, but obviously this is a trivial cost to pay in return for conquering a city (and destroying my archer stationed in it). He would easily have been able to hold the city, and he would probably comfortably have been able to move on and conquer Edingburgh subsequently, once his units had healed and he had brought in a couple of new warriors.
(PS: Like I said, AI performed remarkably well this game. Australia never got off well, but on my continent, Egypt was massive tech leader, with Cree doing very well also. On the other continent, Korea and Greece (Pericles) were running miles ahead in science and culture, respectively, with Greece just being generally an era ahead of second AI. Later I found out that Pericles had Athens situated in a jungle/hilly region and had managed to build Hanging Gardens, Apadana, Colliseum, Chichen Itza and Estadio de Maracana all in Athens (
screenshot), which would probably account for his massive run-away. This was on Immortal difficulty)