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Should All Human Interaction be Voluntary?
A system can be based on a NAP (non-aggression principle).
The Non-Aggression Principle is the moral stance that individuals are free to act as they choose with the exception that they may not initiate force, or the threat of force, against another person or their property.
Many ideas and philosophies would be allowed to pursue thus making a free market of ideas where some groups could pursue anarchy if they abide by the NAP while others could have small voluntary governments, whether democracy or republic.
A government with only the mandate to have a simple court system that only enforce violent breaks of the NAP would be small, unobtrusive and not need any taxes.
Enforcing the principle would violate the principle in some degree.