I don't know if this is a bug or an intentional design. Anyway, on the "War for Survival" map, there are succubi near a suspension bridge, and if you attack them with a secondary hero and one creature of level 1, they will join you. I've checked it 5 times, and they always join.
P.S.: This is good news for Necropolis and Inferno players.
And as a bonus, the recruitment is not only available to Inferno and Necropolis, but also to Stronghold, who can get about 7K gold for them, and Dungeon, who also have the opportunity to sacrifice them.
Bow down and hear our cry,
Our earthly rulers falter,
Our people drift and die,
The walls of gold entomb us,
The swords of scorn divide,
Take not thy thunder from us,
Take away our pride.
G.K. Chesterton: English Hymnal