Autonomy is a motivational driver

Autonomy is how much someone feels in control of their own choices - they have a say in what they work on and how they work on it. They don't feel micromanaged but empowered to pursue objectives and deadlines on their terms.

One way to figure out if you are leading from a place of autonomy versus control is to pay attention to how often you're giving them advice vs asking them questions designed to guide them in finding their own solutions.