There're different levels of authoritarianism and Russia was usually at the far end. Especially compared to the other Slavic countries it annexed like Novogrod Republic of Polish-Lithuanian Commonwealth which had parliaments and elections in 1500s.

But even compared to the absolutist monarchies of the west Russia was more authoritarian. For example serfdom was only abolished in Russia in 1861.

Don't look so far the the west, you have an example of non authoritarian monarchies in central Europe (e.g. Polish–Lithuanian Commonwealth where you had a second constitution in the world, just after the US one, a parliament).

The Ukraine offers the Orlyk constitution from 1710. https://en.wikipedia.org/wiki/Constitution_of_Pylyp_Orlyk