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1) "whenever you involve people in an "authoritative" position you get corruption, cronyism, and nepotism"

Partial agreement: when individual authorship is recognized, principled leadership has value among a civil society where ingenuity is free and public value created; otherwise IMO individuals do indeed have the right to withdraw from abuse

2) "Unfortunately you can't have 3-4 different water, sewage companies openly competing to improve efficiency and customer service"

I don't see why not but IMO a higher solution can be found where citizens endow public utilities by choice and the faculty (base $ amount) of their agency

3) "I'm not sure how to remove the human element other than automating it all through either robotics and computers"

Pre-dispositional bias: IMO each individual has dark/light yet within a civil society, citizens should enjoy the dignity of innocent-until-proven-guilty