Where ever you are forced to buy, give or aquire something rather of your free will, yes that is theft.
Gov forces you to give them $$$$ or they use violence against you, so thats theft.
Although I agree with this but in the end when there is a regulation with the aim of improving the existing order such as advancing a country or making us comfortable in services such as infrastructure or other things I still don't have a problem with paying as long as I am comfortable to live and don't feel deprived of any needs then in the end I think it's worth it even though on some occasions sometimes it is considered indulgent or only gives an advantage to the government in exploiting its citizens and like letting the government take full power over the country that is controlled.
Consciously or not the condition of coercion always exists and occurs in any case so when the purpose of government coercion in taxes will also benefit us then it will not be a problem and a different story when this is not appropriate where we continue to pay taxes but we do not get gak as it should be maybe it needs to be reconsidered.