It's like you didn't even read the wikipedia page you linked, which actually gives some fairly well informed information on the background to this verse - which is the Roman practice of forced requisition of local service and here applies to carrying goods for Roman forces.

Nothing about guides or a responsibility for what happens to someone if you let them go off without a guide. Nor is that relevant to this verse.

Here's my cut and paste of my own previous comment on the same verse:

Matthew 5:41: καὶ ὅστις σε ἀγγαρεύσει μίλιον ἕν, ὕπαγε μετʼ αὐτοῦ δύο.

Trans: And whoever compels you one mile, go with them two.

The key issue is the word ἀγγαρεύσει, which derives from a loan-word used for couriers in Persia. It generally refers to the forced requisition of aid for military purposes. In the context of Jesus’ statement it would refer to the forced supply of aid to Roman soldiers in Judea. It is not a general reference to a ‘law’, and it is difficult to find independent attestation of any such law, though the practice itself is widely established, for which one should consult Horsley New Documents Illustrating Early Christianity; E.A. Judge furnishes evidence of a Roman edict in Pisidia setting out limits for the Roman army on such requisitioning, which would roughly match the reference to ‘one’ and ‘two’ miles as suggesting such general limitations.