"What would happen if instead of extorting money on threat of violence, we let individuals to work together to form communities, and let communities of communities work together?"
That's how it works now. Communities decide what things they need by voting for sewers, road, libraries, schools, etc. Community members pay for these through taxes. And if they don't pay, they lose their homes / go to jail.
How do you expect your 'communities working together' to work when people there don't contribute their fair share? Just let them get away with it? Your community will crumble really fast.
As a kid, riding your bike around the neighborhood, it seems that Mr. Smith can fix the roads, Mr. Jones can fix the sewers, Mary can teach the children, Jennifer can run the library, etc. etc. All working together in harmony. This is not capitalism - this is communism. I'm not for that. Some jobs are harder than others, thus people get compensated differently, thus people's commitment to the community is different, thus taxing a percentage of your earnings is a way to solve this.