The question is rather: Is taxation
justifiable theft? A necessary evil? Libertarians tend to argue that it's wrong regardless the intentions. Taking someone's property without their permission is unethical, no matter how good you want to do with it. Others, who support
social contract theory, argue that it's necessary and should be seen as "voluntary obligation".
Taxation is necessary in any case in human society. After all, these funds are used to finance the army, health care, public sector employees, roads, various social projects, without which it would be very difficult for an ordinary person to live in society. Therefore, whether we want it or not, taxation is necessary.
But another question is whether the amount of this taxation is fair and whether these funds are distributed fairly. Here we will almost always receive a negative answer and it is unlikely that the situation will ever change. Such is human nature in this material world. Only when humanity, without wars and cataclysms, will work for a long time to improve the standard of living, then, perhaps, we will be able to say that we are in order with taxation issues. But then, most likely, the question of taxation will disappear by itself due to the uselessness of taxation itself.