"So the question remains, how do you make authoritarians, not be authoritarians?"

Authoritarians think they derive their Authority from a Social Contract, the case of the US, that is the US Constitution.

You make Authoritarians not be Authoritarians by putting it in the contract that they can't override other people's voluntarily entered agreements with their own.

An amendment to the constitution that simply says no US Law will interfere with an arbitration clause in any voluntarily entered contract is all you need to make Authoritarians no longer Authoritarian.

It is essentially equivalent to passing a law against Authoritarianism. But the Authoritarians don't need to know this, because they can still voluntarily enter into a social contract with an Authoritarian Government of their choosing and grant that government powers to coerce them as much as they desire, so they can still have their Authoritarian preference, they just can't force it onto other people who don't want it.