Software companies usually form as worker coops directly rather than using an ESOP mechanim

Here is a list worker coops: https://www.usworker.coop/directory/

There are some software companies in there under technology

Worker coops can delegate decision-making to managers and executives. This can ensure speedy decision-making. Having workers control the firm doesn’t mean that every decision must be made by referendum. There can be delegation and more representative democracy

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