Okay, some criticisms about your kingdom shapes.
The biggest one is that they don't make a lot of military sense. Medieval empires tend to be defined by landforms like Rivers, Mountains, Pinches-of-peninsulas, etc. So the borders of your kingdoms should probably reflect this tendency.

For example:
Green in the top left would run along the river probably until that major feeder-river that heads north (and has 1 other feeder into it).
Cyan would probably be bordered by the mountains, the river in the west and either the north end or south end of the mountain range.
Dark teal would either controll all the mountains or none of them and probably everything to the east.