My understanding is that Critical Theory began with dismay at what 'Marxism' had become in the Soviet Union. It is concerned most of all with the tendency of all ideologies to eventuate in authoritarian, if not totalitarian, government.

Even Liberalism is exhibiting that tendency these days, as the possibilities for compromise grow smaller and smaller, making governing the nation more and more difficult. A nation that can't be governed slips into chaos. People are willing to suffer even authoritarianism to avoid that fate.