Patrimonial autonomy and "juridical persons" can be traced to the ancient Roman, just like almost anything of the modern world really.
The Romans knew the concept of collegia, associations. Citizens could freely form association to further certain common interests: there were association of devotees of a certain religious cult (they collected money for temples, ceremonies, priests etc.), associations of people exercising the same profession (tailors, butchers etc.), associations of former soldiers, association of mutual help among poor people etc.
A collegium had a clear patrimonial autonomy: the patrimony of the collegium could not be pursued by a creditor of an associated man and, until the collegium was dissolved, no associated could claim any title to his "part" of the common patrimony. The collegium itself could have debts, or credits, could stand in court, sue and be sued etc.
Collegia were seen with suspicions by the Roman authorities because they sometimes would serve to hide certain less-than-noble purposes, such as fostering political disorders ("political parties" so to speak), or organizing citizens in homogeneous pressure groups (lobbies, or again parties, if you prefer). Religious groups which were seen with a certain mistrust would form collegia which were not seen with favour (followers of Christ, Bacchus, Isis etc.). The moment arrives when collegia must be "recognised" by the State to be able to exist juridically (e.g. to receive heritages, to sit in court etc.).
I don't know if the ancient Romans had the equivalent of patrimonial autonomy for an enterprise, but the concept of patrimonial autonomy was certainly existing then.