I only did a quick read of permit.io offering but iirc they don't focus on hierarchical data. If having access to a resource cannot grant access to unbounded number of other independent resources (eg sharing a folder) then almost all issues of the article disappear
100% - it's really about context aware policies for each type of agent, server, interaction, etc.
That's why fine-grained policies are such a big part of the answer here
100% - especially when Auth stands for just Authentication.
Simple RBAC authorization also won't take us far.
But Fine-grained Permissions(e.g. OPA, Cedar, OpenFGA, Permit.io) with ReBAC giving ai-agents Zero standing permissions, and only deriving on the fly the least privilege they need / got consent for, can dramatically reduce the problem
Scales both on the tech, and on the human side - e.g. your product manager can add roles (with CI approval) without requiring engineering involvement.
(I'm biased but still true)