The magic word is unauthorized taking. If government makes it legal, it is no longer theft.
When the government bombs countries and destroys other nations, you wouldn't call it "authorized killing". You would call it genocide. By the same line of reasoning, just because the government allows itself to confiscate property, you wouldn't call it "authorized taking", but theft or robbery.
Then what's the point of parliament and legislation body that people chose to pass those laws? If they chose them, then tax is not taking their property without consent, they've already consented to it.
But is there really consent in democracy? If you do not belong to the majority (which supposedly wants to pass these laws), then, unless you leave the borders of your country, there is nothing else you can do, whether you consent or not.
In a democracy, you are presented with several options and allowed to vote for one. Regardless of the outcome, you are compelled to accept it, even if you dislike all the options. To me, this is akin to choosing which mobster represents you better. Believing that you have a say in the matter is a grand illusion.