The beauty of monarchy is that the king is an excellent target to effect change when he makes bad decisions. This is not Absolute monarchy, but feudal monarchy, elective monarchy in which property owners can vote.
Biblical Kingdom of Israel (1050 BC) had first to be chosen by the tribe leaders. The actual monarch was elected through the High Priest. The High Priest removed the authority from one dynasty and transferred to another king, but only once and that second one lasted 119 years. There was the division but the Kingdom of Judah remained for 345 years.
The High Priest or other religious authorities would sometimes curse a bad king, who would then die and be replaced. Maybe 10% or so were removed this way.
When the kingdom was divided, the tribal leaders were the ones choosing to dismiss the king. The tribes had always had this power to elect or dismiss kings. This second kingdom lasted 190 years or so.
In the ancient Roman Kingdom, the king was elected by the assemblies.
The Kingdom of France was an elective monarchy during the Capetian dynasty, the one following the Carolingian, for about 300 years.
In the Holy Roman Empire, the Emperor was elected by nobles and clerics.
The Kingdom of Sweden and the Kingdom of Denmark were both elective until 1544 and 1660 respectively. Then they were turned into Absolute monarchies.
Sparta, Rome and Carthage had Diarchy, it allows double the choices for residents.
Of course the best forms of laws and governance are the ones that most resemble Anarcho-capitalism, with private institutions that provide judicial and security services. Historically, this is the Early medieval Irish túatha in the Brehon laws and the Icelandic goðorð:
The goðorð was not delimited by strict geographical boundaries. Thus a free man could choose to support any of the goðar of his district. The supporters of the goðar were called Þingmenn ("assembly people"). In exchange for the goði protecting his interests, the Þingmaðr would provide armed support to his goði during feuds or conflicts. The Þingmenn were also required to attend regional and national assemblies.
If this organization was adopted with advanced legal and security services, it would an exact correspondence to Anarcho-capitalism.