Police and Peacekeepers in pre-1800s societies

I want to know a bit more about early modern and premodern policing. Things like:

1. Did all urban societies have "police" of some kind? What did it mean to introduce the "police system", as was done in Western European countries in the 19th century?

2. What are some in-depth descriptions of peacekeeping forces from before police systems? I am curious for any examples from any time and place. I know about the few hundred Athenian slave archers who kept peace in Athens, examples like that.

A few questions you may be asking:

1. Is this not better suited for AskHistorians? -- No, because the mods over there will delete basically every response not written by a verified PhD holder. I am hoping for some spitballing and non-academic talk in the comments, random links to pop science websites, whatever. The standards are lower because I want some pointers towards what I need to do more research on.

2. Have you checked Google/Wikipedia? -- Yes, and some answers were found there, but not enough. I find the Wikipedia article on the subject to be grating and underdeveloped: it has a whole bunch of (frankly inappropriate) opinions on what the "purpose" of police are and how they function or are supposed to function in modern societies, but a lot of the history section is incoherent or blatantly self-contradictory and frustratingly cursory. I want more than "something existed at some point". I want details! I want to know what societies thought about their peacekeepers and what their purpose, authority and responsibilities were. I want to know how big these forces were and what their budgets were and how common crime was and what kinds of crime there was and what kinds of crime they responded to and what people thought about all of that.