Taxation would probably be somewhat more moral if the penalty for not paying them was either:
a.) Exile from the city/country - This really can only be done in small countries or city-states like The Republic of Cospaia back in the 1400s. I can't see a large country like the US implementing such thing.
b.) Denial of government services - This would effectively render the government a private service, but I'd expect the government would try to ban any non-government organization from forming competing services, otherwise you would effectively have an anarcho-capitalist or panarchist system. You would also have some socialists object to this as this would also make free healthcare or UBI impossible and the rich can simply not pay taxes by just hiring private security, doctors, etc for themselves, but they pretty much already do that anyway.
@beardalaxy Do what they do and start your own BS charity. I plan on having the Ioncom Foundation, dedicated to getting the third-world out of poverty by giving children programming books but no computers.
free men historically did not pay it. the crown either took a percentage of primary income for farmers (socage) or there were service fees for things like city water but the whole 'a % of literally everything you ever do goes to the crown' is for losers. literally.
@xianc78 the rich don't even pay their taxes because they all have BS charities. I wish I only had to pay taxes for things I personally benefit from or am able to benefit from.