In most cases yes. But on Naboo they elect queens, just the title. Amidala was her royal name and she is in no way related to Queen Jamilla or the new one ( i forget her hard to pronounce name). Its just a title. But the queens are elected. Remember in AOTC when Ani says ' I heard they even tried to amend the consitution to keep you in office' and Padme says ' I was relieved when my 2 terms were up'. Very much based on US govt from the sound of that exchange.