"Without taxation it would be impossible to receive many of the services that people cherish and need"

What, impossible? Are you saying people wouldn't voluntarily pay for services they want and need? Is the only way to provide services such as schools, emergency or sanitation via compulsion? There are private schools, private emergency services and private santitation service providers that must face the market and earn customers. Therefore they offer better services than a service provider that does not have to earn customers.

The most basic definition of theft is to take something that is not yours without consent. Taxation is compulsary if it was by consent it would be called charity. So indeed taxation is theft...