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All human interaction should be voluntary
If all interaction was voluntary, enforcing laws would become more difficult.
Different people will always want different interactions with other people, and involuntary actions sometimes benefit the greater good. Once a person commits rape or murder, their imprisonment should not be voluntary.
Criminals couldn't be punished if they object.
The civil court system is a perfectly suitable framework for such matters.
There is no need for a system of judgement in a situation where interactions are purely voluntary.
A system can be based on a NAP (non-aggression principle).