What exactly are you pointing at?
Long-term successful areas did not have authoritarian rule. Take Europe for example. There were all the many states, and even within them lots of struggle for power. Then there was the church (even after splits based on the same faith) as an additional layer parallel to the worldly powers. As far as I an tell it handily beat authoritarian competition.
Sure, there existed plenty of local authoritarian rulers, but how did those places do long-term and not just during there often short rule?
Maybe somebody knowledgeable could talk about China? They sure had plenty of strive and competition, but then they had dynasties and centralized rule. As far as I know, which is very little, European powers were quite successful in direct competition (when the two met) and also indirectly (overall results, not of direct encounters).
This is something for reddit's (heavily moderated) /r/AskHistorians, and I highly doubt the TL;DR of a historian's reply would support the assertion or would boil down to the above "gestures broadly at world history".
Genghis Khan or Alexander and other authoritarian rulers sure were great at conquering, but after that it was already over. And they accomplished it mostly by killing an incredible number of people, so instead of actually competing they just removed the competition altogether. Which only ever works temporarily.
> Human thinking naturally aligns towards authoritarianism
In addition, when we look at ape society and tribal humans, the statement is not true at all. Even the ape society is one of alliances, and brutal rulers are eliminated, for example "Scientists show that chimps will murder and eat their dictators" https://www.inverse.com/article/27141-chimp-murder-kill-cann...
Human monarchies often (usually?) had religious leaders with independent power rivaling that of the monarchs as far as I know (e.g. ancient Egypt)? For example: https://www.worldhistory.org/article/1026/clergy-priests--pr...
> Throughout Egypt's history, the priesthood would serve a vital role in maintaining religious belief and tradition while, at the same time, consistently challenge the authority of the king by amassing wealth and power which at times rivaled that of the crown.
Given that we don't live in a LitRPG or Xinaxia fantasy universe where individuals can gain world destroying god-like powers, and that humans naturally are all about equally powerful and not orders of magnitude different in the abilities of their bodies and brains, authority always is a question of the network and not of just that particular single individual appearing at "the top". Keeping that network in sync and focused seems to be very hard judging by the history of actual usually short-lived (by history standards, it may well last the lifetime of a person) authoritarian rule. So maybe the attempt may be natural, actual success not so much.