"Is there a village we could stop at?"
A village can be anywhere from 10 to 100 households. Everyone knows everyone else's business and everyone knows who is in charge. In most cases, the wealthiest person is also the leader of the village, even if they don't have a title like mayor or burgomaster. The innkeeper, if there is one, often holds this position. Other people who typically take the leadership position are the town priest, a magistrate (someone appointed by the lord who owns the land), or even just the most physically powerful man.