I disagree with the depiction of taxation is a mugging, even libertarians want government when push comes to shove. Afghanistan is what it's like with no real government, and no one is for that. Even libertarians want the government to put a gun to your head to enforce contract law!
Taxation is literally a mugging. And you are in error to assume that governments cannot exist without mugging. Businesses provide services and charge for them. A government could do this as well.
don't speak for libertarians if you aren't one. If you are one, you've failed to apply the zero aggression principle.
You also seem to fail to distinguish between using violence defensively against an agressor, which is moral, and using violence offensively to steal from someone (eg: taxation) which is immoral.