People don't need Velon's permission to go bring the kids or the body down when the King has already instructed us to do so. I doubt anyone was worried that Velon would suddenly suggest they go against what they just offered to do for the King. Until we had the platform, HOW we were going to get them down was more of an issue since Daishain said there was nowhere nearby to land. I stuck around in the conversation with the King to subtly get back to the part of the conversation where he asked what more he could do for us, since we hadn't received any reward to that point (And to be nice to Zarra).
People don't need Velon's permission to extract parts from the dragon, swim out and tell the castle the battle is won, heal an elven prisoner, etc. Either. I already post plenty and it just bogs the game down. We should save 'permission' and gathering opinions from everyone for when it's life or death to the party, or other major things like which cult to go after next. Rogues should not ask permission, or 'offer' even, to check for traps, nor a wizard detect magic (If our wizard can detect magic, that is). JUST DO IT. There is no harm that can be done. If one cannot tell the difference between an action that should just be done and poses little to no risk to the group versus waking a sleeping dragon, that's a separate issue.
With regard to PC's needing leadership before acting, I've never been in another Dungeons & Dragons party that had to elect a leader. I can see a need for it here to help break up debates and choose a path, but not for mundane tasks.