And just like other scientists Marx had really different phases in his work. Some are more of political activism, some are philosophical and some are economic.

Sure, I’ll summarize what I remember of what Bakunin wrote the year before On Authority came out, What is Authority?, which you can guess by the name is an anarchist perspective on authority.

Engels claims organization requires authority, but it really only requires agreements, coordination, and sometimes rules; a strict hierarchy isn’t a necessary requirement for that to exist. Engels also says production requires obiedience, which doesn’t require an absolute authority as Engels asserts. Union elections, leaders accountable through recall votes, etc are also means of guiding production without relying on an absolutist revolutionary vanguard. The same goes for revolutionary leadership. It requires coordination, not domination by a central party.

It really boils down to do you think obedience is imposed or agreed upon. I’d like to live in a world where the workers have a voice rather than an authority telling them what they must do. It’s needlessly paternalistic and infantilizing in my view.