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Should All Human Interaction be Voluntary?
All human interaction is governed by the laws of nature, and hence cannot be purely voluntary.
Human interaction is physically required for normal childhood development. More specifically if this applied to infants who could not volunteer for interaction. The child is unlikely to develop proper mental function and in some causes have spontaneously died.
Laws of nature don't govern anything because to govern something implies a human actor is involved thus again the NAP and voluntaryism are appropriate tactics.
Nature only gave humans free will, we have to choose to respect each others' free will and voluntarism is that principle.