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All human interaction should be voluntary
This would decentralize power thus allowing autonomy for all groups and individuals to act however they want while respecting each other.
Interaction would be mutually respectful, and thus allowing for unhindered life of all parties.
Respect of others is only beneficial to a self interested person if the other party is loyal, an equal, or stronger. If the party is weaker or disloyal, then it is in the best interest of a person(s) to take advantage of that or defend against disloyalty.
There is nothing to suggest that the groups would respect each other.