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It's amazing they accomplished as much as they did because "Ancient Rome" and "politically stable" do not belong in the same sentence.

Which was a constant problem for the Roman Army. It usually wasn't quite as bad as the situation at Cannae but the Romans never really had anyone who could say "Here's what we're going to do" while being confident that the plan would be implemented instead of being sabotaged by a political rival...

I'd avoid charging in and make Hannibal come to me. My army is almost twice the size of his. I'm also operating in what's effectively my back yard and can detatch a portion of my army to go attack Carthage ... which he must respond to and pretty much exactly what the Romans did after recovering...