Maybe.
But just thinking through some of the modules I know:
* B2 Keep on the Borderlands - the default is that the PCs are self-appointed; there is no hint of a requirement that they receive the imprimatur of the Castellan before taking on the Caves;
* B10 Night's Dark Terror - the PCs help homesteaders on the frontier without any sort of endorsement from the local nobles (eg the Grand Duke of Karameikos) and then run their own assault on a slave ring, independently of those authority figures;
* Five Shall Be One - the PCs are wandering down a city street and get drawn into an adventure only because they are ready to use violence of their own volition;
* Speaker in Dreams - I think this is fairly similar to Five Shall Be One in how it starts; there is no suggestion that the PCs need to engage with the town authorities as part of leading the resistance against the take-over of the town;
* H2 Thunderspire Labyrinth - the PCs are assumed willing to ignore, or even take on, the mages who rule the dungeon area;
* P2 Demon Queen's Enclave - the PCs overthrow the Drow authorities in the area they intervene in.
That's not a random sample; but I think these are representative enough.