In most countries you'd have free access to medical assistance as well and quite possibly a state pension when you're over 65 as well as if you become disabled or simply out of work.
Taxes are not always spent efficiently which is a real problem and plenty of times they are used to be spent on things we don't actually need but on the whole you can't really argue that all taxes are theft.
Genuinely interested, as where I live the only tax taken from our wages is federal tax.
The poster did not state that taxes are theft, nor that they are stolen from you. Stealing is taking without the right to take, or the permission of the individual.
Whilst you may not like paying taxes or agree with them, I am fairly sure the government has the right to take them.
I'm also bothered by the fact that I am taxed by a legislature that I cannot vote on and I'd question their right to tax me without representation.
Imagine you are in a bar with friends, and they agreed, that you should pay the bill. Can they collect your money by force? Clearly the answer is no.
To your example, specifically, if you and your friends had an explicit system of law governing your night on the town, then yes, they could agree that you should pay the bill and collect the money by force.
In modern states, you don't have a lot of choices either. But at least, even though you are "forced" into a society, you eventually get the right to participate politically.