Chavez in his first few months/year of being in office would be a good example of a non-authoritarian in that role.

My problem with Maduro and many of those in the post early days of Chavez taking over is that far too many seem to have a tremendous amount of money that they cannot explain how they came across legally. Executives at PVDSA, the state run petroleum company, seem to be extremely vulnerable to this corruption.

You can make the case that dictatorships/authoritarian structures are needed to protect a socialist revolution, which Im not sure I entirely agree with, without supporting the theft of state resources by people in the government.