I was around when the agile manifesto was drafted. It wasn't about eliminating hierarchy in organizations. That's something that started happening later, around and after 2010. The agile manifesto was singularly focused at helping people see how to deliver software without leaning on the old waterfall methodologies.
You must have worked in some very unhealthy teams where psychological safety wasn't present. I'm sorry that happened. But don't confuse your experiences with that of everyone else's. There are lots of teams that are agile from the top down, including those that happen to hold a title with VP in the name.