This question can be asked for every rule we have.
Would you kill people or rob banks if there was no judicial system?
In this stage of our evolution, we need hard rules because without them we would be like apes with nukes. Paying taxes is one of those rules.
I don't see how society would function without taxes, at least in this moment.
Have you ever heard of Bitcoin?
Do you understand there are alternative ways of paying for things? Don't you think the ancient method of using force could possibly be replaced by a voluntary system?
No...not likely. Most people can't think beyond what they are told.