IMHO, the core epiphany in "servant-leader" is not about inverting authority, but about understanding that needs for high performing teams come from the ground up.

On the one hand, it's about solving problems so your team isn't even aware of them (typically, politics and spec stuff).

But on the other hand, it's about listening to your team and working on problems they tell you are problems (e.g. non-coders in stand-ups).