I have developed a theory about a factor that keeps people away from the Catholic Church that I call the little sister theory.
Perhaps when you were a child you may have had a younger sibling who you did not, at the time, have much respect for. In fact you thought they were annoying, awful and worthless. It probably happened at least occasionally that your parents would send your younger sibling to tell you to do something. This would be too much to take! This worthless stupid person telling you what to do! Now you probably understood it when your parents told you what to do. You may have not liked it; you may not have obeyed it. Still you knew that the parents had proper authority to direct you. But when this younger sibling told you what to do, and you knew they had the authority to tell you, this was just too much. You might well have said, “I’ll obey my parents, but no way I’m going to obey this pitiful creature.” You knew that the order was genuinely from your parents, and you should obey, but you were just very resistant to the means of delivery.
I think a similar thing occurs when some hear men with the authority of the Church telling them what to do. They just can’t take that. They say, "I’ll listen to and obey Christ, but not any man. Especially not a man that I knoooow to be sinful, and not nearly as smart or with as sound a judgement as mine."
But when Jesus sent out the 72, He told them that those who heard them heard Him, and those who didn’t hear them didn’t hear Him. I think it is likely that at least some of these 72 folks were not stalwart respected members of Jewish society. Knowing human nature, some who heard the message may have rejected it because they knew the messenger, and did not respect him. Still that messenger had teaching authority, and the proper response was to hear and obey.
For us today, the Church has this role. When the magisterium speaks, we listen, not because of respect for their scholarly achievement or because we know they are particularly holy people, but because Jesus sent them to give us that message.
Just my own humble thoughts.