Yes, see basically every revolution, but look at Cuba for a prime example

Cuba, China, Vietnam, USSR, DPRK, Soviet Afghanistan (The one where women weren't slaves, which the US overthrew in favour of poppy-growing pedophiles), East Germany, Nelson Mandela, Venezuela, Chile, the list goes on. Similarly: Countries that do not have governments, they have "regimes". They do not have Vice-presidents or deputies, they have "hand-picked successors".

Western media regularly calls China and DPRK authoritarian.