Here are some links about the topic
- video of Drucker discussing Juran, Deming and himself
- Driving Out Fear and Other Similarities Between Drucker and Deming by Kelly Allan
- Podcast with Kevin Cahill and Joyce Orsini where they discuss the interaction between Deming and Drucker and their ideas
Drucker did propose MBO, his version was not the same thing we criticize. Drucker did criticize how it was being implemented. I think you can argue even with the way Drucker wanted it done, but that way isn't nearly as bad as the way it was done in practice (so don't think Drucker was promoting managing in the way MBO has often been practiced).
And also don't tie Drucker to just MBO, he had lots of ideas over a very long career and many work fine with a Deming management system. I think in many ways Drucker's stuff can be more easily molded to whatever someone wants it to be - this is one reason I think you see Drucker taught in business school. They can claim Drucker wouldn't object to many things, even though, really I think he would - I am not sure Drucker spoke out so directly (especially compared to Deming).
But Drucker was direct on some things, like how bad excessive taking of company's money by executives was. And MBA programs seem perfectly fine ignore this, even though what Drucker found horrible has become mathematically 10 times worse than it was.
I think Drucker was ahead of Deming on this. I don't know that Deming ever was clear on how bad this practice was, but I think he would be clear about it today (though that is just my guess, I could be wrong). I think Dr. Deming would add that to the list of deadly diseases. Remember the original list was 5 before he added 2, to make it 7.
Related: Deming's Point 11.b of 14 - Deming versus Drucker - Why There's No Right Way to Do MBO - 3 Deming-Based Alternatives to Management by Objective
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