A wise and benevolent, Godly King is probably best, but I'm not stating that from a position of knowing. The west is largely brainwashed to think this would be a horrible thing, despite effectively living under that system (minus the wise and benevolent) all along.
Supposed to be every man answering directly to God and living peaceably (right word?) with other men of their tribe (all men to the degree it's possible, but good luck doing that with Canaanites), and leave other tribes alone. If I recall correctly, God didn't want the children of Israel to have a king, but they demanded a king, so they got a king. And you are core wrecked.