Not really, because somehow a libertarian society where you can own slaves is less "authoritarian" than a socialist society where everyone is fed, housed, because the poor capitalists don't get the power to exploit people.

Meanwhile a primitive anarchist commune with so little development of the means of production, a person's only options are to fill a very specific role in society or starve becomes free again.

The term "authoritarian" is not useful for describing how much agency people in a society have over their own lives.