Please, do show me a place that runs, say, a 100+ person team where there isn't a significant amount of consensus building.
And if you believe all useful activity can be done by less than 100 people, you might want to acquaint yourself with actual team sizes for most major software. Yes, small and valuable teams exist, but a lot of stuff requires large teams.
Even a simple chat app, praised for being extremely lean, ran on a 35 person team (WhatsApp). Linux is running at ~1000 contributors, with a lot of coordination via lkml and side channels. It has a management structure, via Linus + lieutenants. OpenAI has ~500 folks. (I'm happy to hear counterexamples here - just because I don't know about them doesn't mean they don't exist)
Communication & consensus overhead is real. Hierarchical structures evolve repeatedly for exactly that reason. The attempts at non-hierarchy are merely hiding that complexity - either via large losses (the OSS model where PRs just get thrown away if the maintainers don't agree, and that work is 'lost') or via informal groups. (Good reading: The Tyranny of Structurelessness)
(BTW: Would love to see quotes from those "fathers")
What you _can_ achieve in small teams is technical breakthroughs, and first working models. There's a reason skunkworks efforts exist. And even there, it's worth noting that the original SkunkWorks effort (XP-80) succeeded because it had a very strong manager, not because they just had a bunch of people in a room.
What you can't do with a small team is productionize for a large audience from there.