This will never, ever, happen (prior to e.g. development of serious nanotech). For any given thing, if you expose enough people to it, you'll have some bad and generally fatal reactions. My sister caries some EpiPens in her purse because if her eldest son is exposed to tree nuts, he will die absent treatment. Every time you take a new drug, and the 2nd time since the first might sensitize you to it, you're taking a definite risk it will kill you dead.
ADDED REPLY: Since this has been flag killed as of now, to reply to your reply while I'm still in the edit window:
Emotionally charged arguments from these people ("your kids are putting my kids at risk!") are what I consider the least productive. That argument will never convince an anti-vaxer, who is usually only concerned about their families direct risk of vaccine injury.
The extreme of this is amoral familism (https://www.google.com/search?q=amoral+familism). That's a very bad direction for a society to turn, and should be resisted by any means that are necessary. E.g. echoing toomuchtodo's comment, but taking it to the extreme necessary to make it actually work, throwing these families into concentration camps into which food etc. is sent in and nothing comes out without being sterilized. Or exile, if any country is foolish enough to accept them.