To summarize, diffuse authority, have authority be ultimately responsible to the group (aka the employees as a whole), and avoid informal networks and concentration of resources by rotating responsibilities and equal access to equipment.

An employee-owned co-op with some or all of these systems in place could achieve the freedom and autonomy you seek. It has to be proved in practice, however. Many co-ops have more traditional authority structures still. Some bureaucracy is inevitable when designing a decision-making process for a large group.