The non-authoritative equivalent would be offering a bounty for the desired work, or granting a patronage gift to members of a development team, in the hopes that they produce something pleasing to the patron, and gift it in return.

Such arrangements are practically nonexistent, because most businesses prefer to be authoritative.

The modal corporate structure is a command hierarchy, wherein the board of directors selects a chief executive, who commands the other C-level executives, who command their middle managers, who command their floor managers, who command the workers. This is so common that I don't even know what sort of business structure is next when ordered by frequency. Per-unit payments to qualified independent contractors? Employee-owned co-op? Municipal utility managed by elected citizens' board? I have no idea. Practically every company I do business with is a corporation with a command hierarchy, where every command potentially comes with an expected value calculation including the cost to issue it and the expected revenue if it is obeyed.

I uncertain as to what confusion of ideas led you to believe that an employer-employee relationship is non-authoritative, but I think that you may be presuming that having choices is the same as having freedom. It is not.