Taxation is not theft for the same reason sex is not always rape, there is consent.
Where is the consent in taxation? It is similar to rape. The government decides the tax rates, and the citizens have to pay. It doesn't matter whether they want to pay or not.
Taxation is not theft for the same reason sex is not always rape, there is consent.
Coerced consent is not really consent. Governments use force and threats now instead of the will or consent of the governed. Like Bill Cosby with his romances, there are very few complaints but calling it consent is a stretch.
you are free to leave your country or to go live in nature, but if you want the shared benefits of a modern society, then you have to contribute in the form of taxes to upkeep this society.