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Ever since Hegel highlighted the difference between morality and ethical life or ‘Sittlichkeit’, philosophical discourse concerning morality and law in the traditions that developed subsequently, up to and including the Frankfurt School, has oscillated between those poles. This paper opens with a short exposition of autonomy as one of the few large-scale innovations in the history of philosophy and proceeds to discuss Hegel's concept of ethical life and the objections that can be raised against it from a Kantian point of view. Political theory, however, has to move beyond pure normativism and consider actual social relations of power, as Marx disclosed. Tracing this winding trajectory from Kant to Marx provides some perspective that may be illuminating concerning present-day challenges.