If you'll try to replace taxes with printing money (which is effectively a tax on owning money), you'll just destroy your economy, because no one would want to own money and the inflation would be much higher than what would you expect from simple calculations. Taxes can be very complex, there are tons of rules that can increase, decrease or even remove taxes for certain situation, meanwhile printing money just affects everyone the same, so this idea is much worse than taxes.
I agree with this, the taxes that we are paying plays a huge role in our everyday lives, without it, there would be no hospitals, public transportations, malls, markets, and so on. The taxes makes this society alive everyday, it is kind sad since we all see tax as a not so needed thing in our daily lives, that is why some of us are refusing to pay it even if we are obligated to do so.
Even if we will have a cashless society, there will be still taxes which is the transaction fee of every transaction that we are going to make when we are paying someone or buying something. It is all about give and take to make everything works perfectly.