Europe had hereditary transitions of power, which were about as peaceful as any other form of transition of power. In Rome you would choose your successor and he would be the next emperor.
> I probably could not be persuaded that limits on speech and government censorship are good long-term for the health of a society that I'd want to actually live in. I think it's a good thing for governments to ultimately be accountable to their people.
Just because it's supposed to work that way doesn't mean it actually works that way. Do you think Americans are using free speech well? Do you feel like the government is accountable to you? In America you have free speech but it's not practically useful for anything. Have a go at trying to stop some government abuse of power.