No, and I don't think that a mass consensus is in any way relevant to determining whether something is an authoritarian regime or not.

There was never a mass consensus in the USSR that it was authoritarian, because it was not permitted.

When I say not permitted, I do not mean that they had people with guns going "THINK THIS!", but that social pressure and group-think were utilised to ensure that nobody broke ranks - just like media control in the US and UK ensures.

It's very easy to rule people by pitting them against one another, and putting them in a state of fear, envy or suspicion of their fellow cit.