If you remove the tax system, you plunge a moderate proportion of the population into disparity and dependence.
Traditionally, humans are community animals, similar to apes. This bizarre idea that we should compete with eachother at the expense of others well being is a relatively new phenomenon.
If you were to study the old world cultures, such as those who were untouched by the modern world (north and South American natives prior to 17th to 18th century), you would notice a much more community oriented society.
In those (more humane) cultures that the white man destroyed, kills from hunts were not selfishly enjoyed by the young hunters but were actually first provided to the weakest elements of the community, the elders, the sick. Wars were not fought for the betterment of wealthy individuals bank accounts or prestige, but for retaliatory reasons or essential resources.
Taxes aren’t thievery, if you’re incredibly well off and someone else in your community is struggling to get by, YES, it should be your duty to assist. In an ideal world privileged individuals would balance enormous inequality through charity, Ronald Reagan had that exact philosophy. He called it the “trickle down effect”, it was an enormous disaster.
All the “trickle down effect” achieved was a larger gap between rich and poor and the destruction of the middle class.
So to summarize, taxes aren’t theft, they’re the means of ensuring our society doesn’t implode into feudalism with the 1% pulling all the strings.