1. The Militia on Most worlds is quite a bit more than people think. We have plenty of examples similar to Tikonov, Luthien, New Avalon.
But also smaller stuff like the Woodstock Militia having a full mech regiment. (I feel like Thorin/Murphid had 2 battalions in one of the 4th SW books, I forget)
2. Most worlds in the IS are NOT Terra, or even close to Terra.
I don't think even New Avalon is truly "Terra" quality in its total atmosphere & lushness. Its just that its really nice compared to most of the FS.
3. Humanity fights to "tame" most worlds it comes across either disease, flora/fauna, atmosphere, etc etc give it issues.
4. Armies are EXPENSIVE, like, VERY EXPENSIVE, we really can't compare the USA with any world in the IS & I'm sure there are rules in place that prohibit me from getting detailed, all I'll say is "Russia 1989". Armies are Expensive, War is Expensive, Interstellar Travel is EXPENSIVE.
5. On Planet the Nobles do bicker but in the end they both serve the Prince/Sovereign of the nation as a whole so why bother building up your expensive private army when you end up not needing it & your boss might decide to "Nationalize" it if you get uppity once too often w/ your neighbors.
When you count on all the factors of trying to operate in "less than ideal/Non-Terran" conditions on your world, combined with the need to import things, combined w/ an overall lack of major conflict on many worlds and the unseen total militia & reservist #s & while not perfect it at least puts the "Fasanomics" into perspective.
If I'm a Baron & their is an RCT 1 jump away, I probably don't want to invest in anything more than a company of tanks/apcs & a battalion of infantry to defend my castle & my local Jeep Factory & support the local police when they call up the National Guard.
Planetary Dukes might call on troops from all those Barons & also raise a planetary militia but even then, a world is BIG.
When you park a Regiment near every factory/capital/spaceport & then companies all over at depots & armories it eats into your "Mechanized Infantry Division" of Militia pretty quickly.
Mech Company raids don't find Infantry Divisions waiting for them because they are all over the planet & pirate bands don't operate at the "Multi-Regimental" level inside house borders so what is the overall point.
You keep enough for basic security & defense & the large standing army that seldom gets used is really just an over expensive waste.