Taxation is only theft if it is used by government officials for their own personal benefit. I also think the system itself needs a refix to make it fairer and better but the point stil stands. There are so many corruption inside the system and the poor is suffering.
Taxation is important towards the development of a nation if it done without bias but it is very unfortunate that most government now are not regulating the system well and even the revenues that are being generated from taxation are not properly managed which makes most people have the feelings that taxation is a kinda fraud that the government imposes on people just to embezzle public generated funds.
I don't completely agree that the rich people avoids taxation because they are even the ones that are more worried about paying taxes because they know the charges that will be levelled against them if they try to absconds paying their taxes. We have have heard of past cases where influential people in the society where charged for not paying their taxes just like in the case of the Argentine footballer Lionel Messi and his father being convicted in 2016 for tax related charges in Spain so everyone is included in tax paying both the rich and the common man.