I'm not sure I agree. It was the people of Israel who asked Samuel to appoint them a king in 1 Samuel 8. God thought it was a bad idea and asked Samuel to let them know what they were in for. Samuel's response would make any libertarian proud.
Discussion
Yes, that's a very good point. I'm on team "king", but only just, exactly because of this.
The idea of a priest mediating between God and man predates Aaron by a long way. The 'priesthood of all believers' idea in Hebrews and elsewhere empowers the community over a centralised authority figures.