When you say "society", which individuals are you specifically referring to?

The systems in place that provide you with goods free to use. These systems are (in America) democratically decided, so the specific individuals include everyone who has the right to vote.

What evidence do you have that I owe these individuals money?

You don't owe them money. You owe them your entire life. Without their help, you'd be dead in your first month of existence, and every day after that till you could care for yourself. Thankfully, society has decided you can pay this debt using only a small percentage of the income you gain. Although it would be foolish of society to do otherwise.

Do you have proof of services rendered that weren't paid for?

They were payed for. By the taxpayers that were paying while you were growing up. Now they have passed the torch onto you and it's your duty to work so that the next generation can get the same benefits, or more, than you did.

How does being raised by my parents (who paid for my upbringing) mean I owe money to third parties?

You parents consented to this by raising you in society, and not, in a boat in the middle of nowhere.

How is it possible to be born into debt given that debts can only be incurred through consensual contract?

Because it's necessary. If the debts aren't payed (by passing on these services to the next generation), humanity ceases to exist. Once upon a time, in hunter gatherer societies, this debt was merely payed by raising your own children. But that society is unsustainable, if we reverted to that model the carrying capacity of the earth would decrease and the billions of people in cities would starve.

It's a moral obligation. Repay society, because if we don't people will die. Sure maybe you can avoid it and everything seems fine. But that's the tragedy of the commons. If everyone did, things would fall apart.

Why would I have to sail off into the ocean in order to not submit to theft?

Every piece of land is already claimed. What gives you the right to take or use land that someone else owned before you were born?

Are you saying that it wouldn't matter which goods or services I provide to enrich the lives of others; that it's not a contribution unless I also submit to the theft of taxation?

As long as you live in a sovereign nation, you are bound by an implicit debt. Land within a sovereign nation is owned twice - once by the nation, and once by the individual. The nation grants free usage of that land so long as it's laws are adhered to. That includes taxation. Leave a sovereign nation, the laws no longer apply.

Look, you benefit from society, whether you wish to admit it or not. This society is held in place, in part, by taxation. You can't have your cake (society), and eat it too (not pay taxes).