Love thy enemy
This is key.
If we can agree that we ALL have inherent, inalienable, and equal rights we can start seeing past all of the propaganda, "laws", and start moving past "authority".
Real authority comes from doing what is right and having people believe in you. Stop doing what is right and good and you will lose your following. The native americans (and every indigenous population) comprehended this.
That is why europeans who decided to become part of indian societies where demonized and murdered.
Having leaders instead of rulers is anathema to any ruling class... and would easily result in a world we can hardly conceive of.