So - a kind of voluntary association would be great in theory, but not really optimally efficient at getting the job done.
A rational hierarchy would be more efficient - but not necessarily socially acceptable.
There are already thousands upon thousands of voluntary associations. I am not trying to have a hidden meaning of turning this into something about how a government should be run. There are clubs with presidents, vice presidents, treasury, secretary, etc...committees, etc.
I may be grasping, there may not be a single answer, it likely depends on the group. I was just wondering if there might be some theories out there on efficient group structures.