The Abarbanel directly contrasts the era of the judges with that of the kings, and the Abarbanel (Devarim 17:14–20) concludes that the governance of the judges was good while the governance of the kings was harmful and extremely dangerous — whereas not a single judge turned his heart away from God, virtually every king led Israel astray, ultimately causing the exile.
This stands in pointed tension with the closing verse of the book itself, where Shoftim 21:25 records that 'there was no king in Israel; everyone did as they pleased,' suggesting that the period of the judges was marked by unchecked individualism rather than ordered self-governance.
A philosophical grounding for why any form of ordered communal leadership is necessary at all appears in Duties of the Heart, Second Treatise on Examination 5:59, which observes that human beings — despite their great diversity of character — naturally consent to appoint one from among themselves, accepting his authority and fearing him, so that he may govern for the benefit of all and prevent their affairs from collapsing.