From experience, there's very big differences between the amount of terrible decisions the upper management forces upon engineers between various companies. When it's very very bad, you should leave because the odds of it being better somewhere else are very high (they might be only average bad instead of objectively terrible).

Edit: It is also exactly this kind of thinking that keeps people in bad situations. Nobody wins when anyone thinks like that, except of course the people in the exploiting position in the first place.