Have you read Coase’s “Nature of the Firm?” At almost 90 years old, the paper gives a very excellent answer to your question. Essentially, the market promotes “traditional” (what you call “authoritarian”) organizational models because it’s more cost effective. Not a great answer, but it’s what we got!

Even in employee owned models (ESOPs and others) the same structure tends to appear naturally, so the only difference is scale. We’re stubborn humans, after all 🤓