A person in an autonomous state is free to behave according to their own principles and therefore feels a sense of responsibility for their own actions.
In the autonomous state, people have the free will to do what want and take responsibility. When an authority figure gives an order, ppts shift to an agentic state where they believe they are no longer responsible for their actions.
Most societies are structured in a hierarchical way, with people in certain positions holding authority over the rest of us.
We are willing to give up some of our independence and to hand control of our behaviour over to people we trust to exercise their authority appropriately.