By definition, an authoritarian society is one which requires absolute submission to the state, or even to the whims of a ruling clique. There can be no freedom where citizens are not allowed to express themselves openly or have no framework of laws to protect their rights. Look at North Korea, where even the dictator's uncle can be thrown to the dogs for displeasing him. There can be no freedom in a society like that.
No, in any government that you have, there will never be a complete freedom for the people. The government is still going to make them pay taxes, and is still going to have laws that prevent them from doing certain things, so you are never going to be really free.
There is no real freedom is you are not free to choose leaders to help you create a world that you want. Without democracy there is no real freedom because you are not truly represented. With an authoritarian society, it's only the will of a select few that get to be realized.
No, there is not any real freedom in an authoritarian society, because the people who are not in power are given little choice over their lives. In the authoritarian society, people who are in charge at the top tell everyone else what is good for them. The people live in oppression.
Authoritarian society is ruled by obedience and is often thought of as the anti-thesis to real freedom. I do not believe you can have this type of government and at the same time have citizens who enjoy real freedom. This system is more about a brainwashed mindset that is controlled by the government, which is far from the ideals of freedom.