Although I agree that today's taxation is theft mostly, especially in non-democratic or in half-assed democratic countries, I don't think it's possible to build a society where every individual is independent from others. The thing is that the world is big enough to contain different kinds of people. And there are evil people from our point of view who are, at the same time, not evil but righteous from their perspective. Those people are able to sacrifice everything, freedom, amenities, well-being of their children and even their very lives for a "higher purpose". Their sole aim is war until victory or death. To confront them we need a strong country with a strong military and economy which takes a strong government to rule over. Otherwise a society of independent individuals, most of whom don't want to go to war (Who wants to go to war?) will be conquered and enslaved by those barbarians.

But this "strong government" shouldn't be only strong enough to protect itself from its own people while making wage slaves of them (what we can see nowadays mostly). The government should be absolutely transparent and open. Every citizen should have a right to check where their taxes are going. Thankfully that's not that hard to implement nowadays.