Bitcoin is rules without rulers. Nostr is rules without rulers. Private security & private arbitration are also forms of rules without rulers. Bitcoin (and liquid) make insurance contracts possible that ensure rules can be established for important business relationships with skin in the game.

There is no definitive piece on the subject as far as I am aware, but I can certainly recommend some books that point to or discuss the sort of mechanisms that might "govern" an ancap society.

The Machinery of Freedom is a good read (unfortunately the audiobook is pure trash). Freedman said The Moon is a Harsh Mistress inspired him to write the Machinery of Freedom. David Freedman (son of Milton) & his son Patri both have a number of decent talks on the subject. I think Michael Huemer & maybe Kinsella have some talks on polycentric legal theory. I am certain I can come up with a bunch more if I start looking through my books & media files.