Taxation, for all intents and purposes, is theft. It involves the state forcefully taking the capital of individuals that was fairly earned off the back of their own labour. If one refuses to pay up, there is dire consequences. It is akin to a mugging.
However, unlike mugging, you technically get something back from this. Or at least in theory. The issue is, however, you don't get a say on what this tax money is to go towards.
That said, without some form of taxation, you can't really have a state - or at the very least not a very effective one. The theft problem would potentially be rectified by introducing a voluntary tax system. This would mean that taxation can only be paid with the consent of the individual who is paying them. While this theory is attractive, it is questionable on its effectiveness and may lead to the government lacking the sufficient funds to function the institutions it does fund.
If taxation is an necessary evil, it is my view that is should be limited to such a degree so as to be sufficient enough to maintain a limited minarchist government. With a lot of the institutions that governments currently fund in the West being handed over to the ebb and flow of the free market.