Not defending taxes, just wondering:
How would you pay for roads, hospital and police in a society were there's zero taxes ? The money would need to come from somewhere, and someone would need to provide those services.
How do you suggest it be funded?
There are such a thing as private hospitals. Private insurance etc...
There are a myriad of possibilities regarding roads. Tolls is one way but there is also advertising. Imagine the local freeway/highway having ads similar to the way formula 1 racing does for example.
Police? Security will be a highly desired service. Companies will provide, most probably a better service than the cops. There are already many private arbitration services as well as private security firms.
At the end of the day none of these areas are my speciality, but people have written about them and there are examples in the real world to a limited degree.
Remember, just because you or I can't imagine something doesn't mean there aren't other people out there who can think of ways around problems. Ask yourself if you could have thought of all the different business models in all the different industries in the private sector. I daresay nobody could. When you look at it like that you realise just how unimaginative and lazy the stealing option is.