There may not be that much difference between Lean (Toyota) and Taylorism. Don't forget that Toyota (Toyoda) is not that far from Fordism - "you get whatever color you want as long as it is black". Employees get to tweak the process but the fundamental model stays the same. They don't get to change the assembly line, nor the parts, nor what is assembled. And Toyota guaranteed life-long employment when it was implemented.
I've worked the line twice - first time as a teen looking for any work, the second time as an undercover analyst hired to examine why Lean was failing at a plant, both doing the same type of job: electrical component assembly. I got physical injuries (minor) both times. The majority of the assembly line workers had repetitive stress injuries, including losing fine motor skills and wrist control due to use of impact wrenches and exposure to bad ergonomics. If a human delaminates, you can't glue them back.
Although rational (Taylorism, Management by Objectives, MBO, OKR, Milestones, management by goals ) vs. normative (Lean / Toyoda, human-centric, Agile, humanist, culture ) division of management styles/rhetoric has been proposed, they should perhaps be seen through the prism of Creative Destriction (not disruption, and surprisingly, CD comes from Marx).
In a vulgar approximation, imagine capital-backed entities served by the manager class, which are stressed by short deadlines and performance-tied bonuses and careers. They are constantly shifting basic approximations of solutions and perspectives, without challenging the system.
Give employees more autonomy, and output and managerial control suffer. Instill more rigid control, and risk losing the ability to innovate and "knowledge producing" (Drucker of MBO fame) talent such as programmers.
In an antagonistic system, whatever you come up with has its own roots of destruction on top of built-in conflict (Marx again). Hence the back-and-forth re-framing between "rational" (Taylorism) and normative "culture, baybe, Holocracy!" so fast that today it is a zombie that has both and neither.
You end up with projectification, corporate "culture" that demands the soul and meeting arbitrary "milestones" from employees, but the corporation itself can only guarantee arbitrary termination.
There is a great and influential analysis "Design and Devotion: Surges of Rational and Normative Ideologies of Control in Managerial Discourse" by Barley and Kunda. I would suggest reading "Management fashion" by Abrahamson as well. Both can be found through G.scholar, including no-registration copies.
https://www.jstor.org/stable/2393449
https://journals.aom.org/doi/abs/10.5465/amr.1996.9602161572