when citizens vote they choose who manages the country whom determines how laws and policy is made
people AGREE and consent to be managed which comes with costs, people agree that some situations of life are not assured and so they agree that some representatives of the masses can organise such funds to the distribute to the services/functions that are needed which individuals cant do for themselves.
so tax is not theft when its part of the law that had been agreed to by the representatives the majority consented to
sometimes changes in tax laws or expenditure policy can negative affect the masses. but thats where people petition their government for change that benefits the masses, or vote a new governing body into power who pledge to change laws for the benefit of the masses
i personally think that alot of the tax which treasuries manage get wasted and we should petition governments to economise and organise funds better, but that does not mean taxation is illegal when there are many many many laws actually legalised it over centuries. so its not theft, just irresponsibly managed/spent
So, tax may be debated as theft when hard-working citizens have to pay ridiculous amounts for things that don't make sense, or when the tax fee is increased within a short period. However, since it's a legal fixed fee, one shouldn't bother too much about it being theft or not, but rather focus on making enough money not to notice the tax rate.
for me taxation is not illegal as its the whole purpose of government. we voted to create government to service us as a collective and individually based on those in need, which its services come at costs..
much like a gym or a management company. we become members of a gym or hire a management company to run our day to day services so we have to pay that bill/membership
however yes when the government abuse their authority when they spend funds on things that dont benefit the users and then charge those users even more due to the wastage.. then its the government thats not fit for purpose and needs to reform. where by it can reform its expenditure plans and thus not require to raise taxes, and instead decrease the tax expectations
its not so much the tax, its more so the treasury budget/plans which is the problem.. fix the spending plan, to relax the taxation (utopian dream as we know governments wont do that)