1 Samuel 8: Government by Consent, Warned
1 Samuel 8 shows that God heard Israel's demand for a king and granted it, so consent is real. But what they consented to was a ruler who would take their sons, daughters, fields, and produce.
Kingship in the ancient Near East and 1 Samuel: A Biblical Guide
Israel's elders asked Samuel for a king to judge them like all the nations, and God treated the request as a rejection of his own rule. He still granted it, but only after Samuel spelled out what a king would claim from the people.