I did not read the article but it seems pretty clear that Moses was placed into a position of being judge over Israel and that there elders appointed among the tribes who were surrogates of Moses’ authority. This passed to Joshua and the other judges ending with Samuel whom the people rejected in asking for a king. However we see Solomon acting in the same manner by the wisdom given him by God.
Later the prophets take up this role except that they are more in the fashion of the prosecuting bring God’s warning of judgement against the people.
Jesus however is our ultimate judge and is the One who came in the power and authority like that given to Moses. That is, like Moses, Jesus adjudicated the Law itself and spoke on God’s authority to interpret for the people. When Jesus ascended He gave this authority to the Apostles who appointed deacons/elders to serve the Table as they preached. This led to the establishing of bishops under the Apostolic authority.
So yes I would think there is great similarity between Moses and the judges and the bishops under the authority of Christ which of course eventually led to the primacy of the Holy See.