I think you have something here, but I also think you have accepted the wrong dichotomy.
I would abandon the vocabulary of "domination" and "submission". And I disagree with the association with BDSM, because it is full of coercive symbolism: whips, striking, restraints.
A much better pair of words, in my opinion, is "to lead" and "to follow". The connotations are better.
Leading is understood to take effort, to be a service to the community, even the community of two. The follower chooses to follow, not because they are compelled by force, but because the leader knows the path. The leader is not giving directions merely to extract pleasure for themselves, but as a service; they are organizing the community for its mutual benefit.
Then, when you follow, it is not because you are being whipped, or choked, or physically restrained, but because you want to go where the leader is directing; they don't have to make you do anything. You are happy to let them make the decisions, because you trust their decisions to be good for you -- and they are.
And when you lead, you do not need to worry about maintaining coercive power, because you know that you can trust your followers to work together with you. Their eyes (and yours) are on your shared objective, not on who gets to be in charge.
I think the key difference between these two dichotomies is this: One is held together by coercion, and the focus is on who is in charge; the other is held together by trust, and yes, someone naturally takes charge, but this is for the purpose of achieving a shared objective, which is where the focus is.
I am saying that legitimate consensual authority exists, and that our society should allow it to exist, rather than tearing it down always by viewing it as violent. It does not need to be violent, or attached to violent symbolism. Instead of "master and slave", think "mother and daughter" or "father and son". Both sides of these relations have obligations, and both have dignity.