We are FORCED to pay a tax upon every transaction, and they say Bitcoin doesn't have any taxes? That's just pure crap. Taxation is unconstitutional theft via armed extortion. In Bitcoin's case, it's unavoidable, and is without the armed extortion (YOU ARE FORCED TO PAY).
This is not actually a tax that you are paying. You are paying for a service (the miners including your TX in the block they find) and like any other service you receive you should should pay for it.
As it has been said many times above, at the present time you can send a TX without a fee and still have the TX confirm quickly assuming that all outputs are at least .01 and the size of the TX (in kb) is small.
Another point to make is that if you are spending an "average" amount of money (I would consider a $10 transaction to be average) then the TX fee of ~$0.04 is very small.