If one wants a default, well-tested structure, hierarchy seems to be a good candidate[1]. Another idea is to optimize for viability, meaning the ability to adapt to and survive changes in the environment, described by the Viable System Model[2].
I wonder if there are studies on the different ways of structuring and their goals and tradeoffs.
[1] Choose Boring Culture — https://charity.wtf/2023/05/01/choose-boring-technology-cult...
[2] Tools for Viable Organizing — https://vsru.org/articles/tools-for-viable-organizing.html