In between Jacob and the time of the judges, Moses played a key role in the administration program through the Mosaic Covenant and the Palestinian Covenant (Ex. 3:10). Eventually Moses grows old and passes the theocratic leadership on. This brings us to Deuteronomy 34:9 “Now Joshua son of Nun was filled with the spirit of wisdom because Moses had laid his hands on him. So the Israelites listened to him and did what the Lord had commanded Moses.” The people of Israel respected Joshua’s authority and followed him as their leader. Joshua 24:31 says “Israel served the Lord throughout the lifetime of Joshua and of the elders who outlived him and who had experienced everything the Lord had done for Israel.” Eventually Joshua dies, and the theocratic leadership is passed on to the judges (Jud. 2:16).
God rules indirectly through the judges, who both administered the Law and kept the people in subjection to God and delivered a repentant people from their disobedience. Eventually this form of theocracy would end too.