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I think that's more a function of an authoritarian regime than socialist economic policy.

History is the bane for anyone peddling the idea that a socialist society and authoritarianism are two separate things.

History we also the bane of anyone who thought man could walk on the moon.

Has there ever been a case of the latter without the former?

They're two different things, although they are closely related they are distinctly different. See https://en.wikipedia.org/wiki/Political_compass

EDIT: Essentially "socialism" is an economic status, while Authoritarianism deals with social freedoms.

Historically most "communist" societies are also Authoritarian, but that's not always the case.

I know that. That's specifically why I'm asking if anyone has managed to implement socialism (or communism) without being authoritarian about it.