The last chapter deals with another fundamental concept for bioethics, presented in a non-ideal key: relational autonomy. The chapter shows how feminism has highlighted the implications, commitments and applications of this concept with an emphasis on how our non-ideal world leads to failures of individuals and groups to exercise their autonomy. This chapter not only shows the different versions of hegemonic feminism, but also presents the vision of feminism from the South. Another important issue this chapter outlines is that faced with the opposition that is traditionally posed between vulnerability and autonomy, it proposes to rethink them from more sophisticated perspectives that avoid this dead end. The chapter shows how relational autonomy can complement or be constructively related to the notion of vulnerability and provide more complete and interesting analyses for medical practice.