> From each according to ability
This is the dystopian part, if they judge you to have high ability they will work you to the bone and punish you if they think they could grind more work out of you. There is no freedom to quit and do something else, there is just the judgement of the state and if they get something wrong you are screwed.
Reward people for work instead of punish people for not working, that is the capitalist way. Punishing people to get them to work is a bad idea, I thought most people on the left agreed with this? So why do you still think communism makes sense, when it is a system based on punishment rather than rewards?
Secondly, tribal human society roved in bands of approx 100+ people which, by virtue that it usually had leadership, was not entirely classless, despite the fact that the groups were small enough not to require political representation or monarchs. You're dreaming if you think individuals were always free to act against a tribe leader's wishes.
Marx said "I am not a Marxist" and "I do not write recipes for cookshops of the future", so there is no Marxist society other than the one he envisioned in the far future (certainly not a nearer term socialist future) which had the banner "From each according to ability, to each according to need".