One thing the article brings up is that "success" may not be synonymous with "financial success". If you have a specific burning vision for a thing that should exist in the world, it might not be the most profitable thing, and the founder staying on is probably a good way for exactly that product to exist - but an outside CEO might choose to compromise the product vision and significantly expand the potential market in doing so.
I suspect involuntary founder replacement is much more common in venture-funded companies. While your, my, and the founder's definitions of success may not be synonymous with "financial success", many VCs and their LPs may not feel the same. Obviously it's tricky to fully generalize, but the point is that VC can be expensive if founder and investor motivations aren't closely aligned.
GP's burning vision, of course.
I once had my vision burn so hard my landlord charged me for the floor paneling.
What is the evidence for this? We can throw anecdotes like Apple on one side and Unilever on the other, sure, but is there any study saying e.g. "Of these 100 promising companies founded in 1990, x% of the founder-led ones were successful by 2010 whereas y% of the outside-CEO-led ones were?"
Making a bold claim like "Companies that succeed have X cool-sounding behavior" is the realm of business books in airport bookstores. It would be nice to take a more data-driven approach.