Feudalism makes the rules of society more explicit and legible. Therefore, feudalism benefits people who benefit from the rules of society being explicit and legible, and harms those who benefit from the rules of society being opaque. Much follows from this.https://twitter.com/Alephwyr/status/1198720602250473472 …
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Having a small, largely hereditary group control production is certainly one way to run a society, but there are many other ways we could instead. We could have those doing the work control the means of production, keep markets in place in certain sectors, plan directly in others
I haven't read very much Marxist literature, so to be honest I'm unable to address it in any depth. But if it could be done, one would think it would have been done, and the arguments for forces that prevent this from being true have always struck me as excuses.