Will there ever be more than a fringe of the population willing to be exposed to the mortality risks motorcyclists are exposed to? Last time i looked your chance of being killed is an order of magnitude higher on a motorcycle.
That's as it may be, and it varies by culture, but it is clear that there can be no requirement for an "authoritarian society" before there could be smaller/narrower vehicles sharing the roads with larger ones, as this is already commonplace in many different kinds of societies around the world. In some places motorcycles/mopeds/tuktuks are more common than full size cars.
