You do need a rigid authentication and authorization scheme just as you described. However, this is completely orthogonal to CSRF issues. Some authentication schemes (such as bearer tokens in the authorization header) are not susceptible to CSRF, some are (such as cookies). The reason for that is just how they are implemented in browsers.
I don't mean to be rude, but I urge you to follow the recommendation of the other commenters and read up on what CSRF is and why it is not the same issue as authentication in general.
Clearly knowledgeable people not knowing about the intricacies of (web) security is actually an issue that comes up a lot in my pentesting when I try to explain issues to customers or their developers. While they often know a lot about programming or technology, they frequently don't know enough about (web) security to conceptualize the attack vector, even after we explain it. Web security is a little special because of lots of little details in browser behavior. You truly need to engage your suspension of disbelief sometimes and just accept how things are to navigate that space. And on top of that, things tend to change a lot over the years.