> Since most democracies are less than 200yrs old, the taxation cannot have been as old as civilisation.

That would be true if the concept of taxation was dependent on the concept of democracy (and if it was correct that democracy was less than 200 years old, which is off by around an order of magnitude), which it is quite obviously not; taxation long precedes democracy.

> Historically taxations have been imposed by distant rulers

Historically, taxation (until fairly recently, in-kind; money taxes as the primary form is fairly new) has been imposed at every level from small bands to vast empires; it certainly is not correct that they've normally been imposed by distant rulers.