Authoritarian is a meaningless pejorative. All states/countries/political groups etc. must be authoritarian by necessity in class society
Historicially, classes have been created or destroyed in order to create more or less centralized authority-driven decision making, and societies with less centralized authority have called ones with more centralized authority "authoritarian".
Feudalism, dictatorship and even economic subjugation are called authoritarian by less authoritarian states.
In practice, the criterion for "authoritarianism" is however far back on that scale makes your current political center have anxiety about their ability to keep their current privileges from the authority.
But in theory you can see that the social organisation with the least authority possible would be an anarchist one, designed to dissolve class hierarchy when possible (e.g. abolition of private property) and apply anti-authoritarian safeguards if not (e.g. teach children how to take class action against adults, and make it easy for them to do so).
While such a society will still accumulate authority, it is designed to process it like any other waste product.
This means "authoritarian" is as meaningful as "filthy". We can never be fully clean, but someone who chooses not to bathe to the standards of their time can be called filthy, and those standards can improve over time.