It depends how we define taxation.

The free market providing services, even on a voluntary basis, becomes de facto involuntary tax due to social pressure or necessity. Its just ongoing payment for something. That the monetary flow goes: Me -> Service Provider vs Me-> Gov tax -> Service Provider , may have efficiency gains, but its not so simple.

I consider tax to be maintenance of a service or common property. In the case of Land, that's paying for the state guns to defend it, you cant remove it without removing the defense. Someone is getting paid for the risk.

Could we get better value for our monetary spend to private providers vs Gov distribution to private providers from Taxation? Maybe, but i am also not convinced a private market would always come out cheaper. There are efficiencies and negotiation at scale by governments too.