Authoritarian is an adjective. A thing can be authoritarian without all things being so. Yes, authoritarian things have always existed, and yes, a powerful religious group joining forces to make sure kids continue to hate themselves for being gay or trans is authoritarian.

Everywhere being authoritarian throughout all time seems a fairly good summary to me?

The Romans nailed Jesus to a cross, the American south bred human slaves, Europe regularly had crusades and pogroms, post-war America supported a crazy number of military dictatorships, the Iron curtain, Communist China and so on.