In those days there was no king in Israel, but every man did that which was right in his own eyes. - Jug 17:6
"There was no king in Israel" is simply saying there was no Authority figure over the people.
The reality about the Jews:
1) they had rejected personal Relationship with God.
2) The MosaicCovenant had been forgotten.
3) There was no Judge.
4) There was no King.
5) Each individual was their own final Authority.
For rebellion is as the sin of witchcraft, and stubbornness is as iniquity and idolatry. Because you have rejected the word of the LORD, he has also rejected you from being king. - 1Sa 15:23
This verse is in reference to Saul. But Saul's Rebellion against God is typical of millions of people today.
Even people in Christian Churches have rebelled against the Word of God and have come up with their own moral code.
Each is doing what is RightInHisOwnEyes. And this is Idolatry.
Idolatry is Lucifer's Sin. He made himself Authority over God.
Self-worship is evidence that a person is a ChildOfSatan.
This is how God sees us - either we receive His Authority and Worship Him or we make ourselves the Authority and are therefore Guilty of SelfWorship.
God gave us FreeWill to Choose. But choosing God is choosing Life. Any other Choice, including SelfWorship, is choosing Death.