My dad is a retired Marine and I learned several things from the NCO system and Marines in general: good leaders (EM/Sergeant) will generally never ask you something they cannot also do (implies they are your peer, even if they are not), and Marine Corps manuals are able to take anyone who can read and make them operate technical things. Their manuals are written in a very direct stepwise way to get people up to speed in doing whatever task they are assigned which I learned early on is just plain good documentation.

Servant leadership works really well when you have high agency individuals, and can grow high agency individuals. I have definitely been on the other side of that with control freak machiavellian / nearly adversarial leaders as well.