Honestly I don't think the author is giving Mia enough credit. She is self serving but she is not stupid as the author/narrator describes her action. Just establishing contact would be enough so I don't really understand why the guard would be irked by doing "just that", also Mia knows the situation implicantion like when she apologized about the tree and how overall she behaved. No spoiled, brain rot princess would be so polite or actually proposing reasonable solution.