In a fully free society, taxation—or, to be exact, payment for governmental services—would be voluntary. 
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Since the proper services of a government—the police, the armed forces, the law courts—are demonstrably needed by individual citizens and affect their interests directly, the citizens would (and should) be willing to pay for such services, as they pay for insurance.
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Canada is currently on the course of Venezuela, Greece and Brazil.
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https://www.youtube.com/watch?v=RsTnPA8OVQQ