The best replacement for autonomy is beneficence.

The best alternatives to autonomy are rated as following:
★★★★★  beneficence
★★★★★  shame and doubt
★★★  connection
★★★  shame
★★★  paternalism
★★  independence
★★  heteronomy
★  doubt
★  sovereignty
★  agency
★  freedom
★  shame and doubt definition
★  dependence
★  authority
★  attachment
★  nonmaleficence
  doubt and shame
  self doubt
  heteronomy kant
  endeca
  automation
  intimacy
  initiative
  self-doubt
  embeddedness
  control
  autocracy
  connectedness
  shame doubt
  paternalism patients
  self determination
  shame & doubt
  capacity
  guilt and shame
  consent

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No companions for autonomy have been suggested so far.
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Google Trends

Scale is based on the average worldwide traffic of autonomy in all years. Click on graph for more.
autonomy
beneficence
shame and doubt