A three-year UBI study done in Germany shows that a guaranteed monthly check increased labor market exploration and increased work satisfaction.
(www.pilotprojekt-grundeinkommen.de)
What parts are authoritarian? Aside from caps on excessive wealth and limitations on leadership, I don't see much limiting an individual's autonomy. As it is, most people are coerced into bad working conditions in order to live, which is a quite a shackle on personal liberty.