There is a massive difference between rules and authoritarianism. You don't know your history very well. Feudalism started when the larger government failed to adequately protect provencal farmers. People simply picked up and moved closer to people that were rich enough to afford a few armed security guards. Eventually, this relocation enriched these lords to the extent that the people in their region lost all of their rights to everything. They didn't own land, tools, or even their right to relocate.
The only change that happened was trusting these minor authorities to simply do the right thing. This is how Roman Citizens became medieval serfs. The biggest lesson to learn from their history is to never give up your autonomy. Make all the rules you want. Don't steal my property and autonomy. It is my right to choose.
I don't even own a car, or drive. This is a fundamental cognitive failure of a generation blatantly repeating errors of the past. Those errors are very likely to cause hundreds of years of sociopolitical regression. We will be loathed for centuries to come because of our blind stupidity. Giving up autonomy is burning Rome. It won't be clearly seen for a long time, but it will be called neo digital feudalism. You will own nothing, because you did not recognize the blood that bought your autonomy or your descendants that will pay it again on the other side of the terrible age you've opened them up to endure. It has nothing to do with driving and everything to do with fundamental citizenship and democracy. Those two aspects are directly and irrefutably connected through the legislature. Once precedent is established, the grey areas tilt the table over time. Eventually, you area serf once again. It is absolutely essential to maintain autonomy to have democracy.