Well it depends on what you mean by tyranny, as has already been stated.
If we go by the dictionary definition here:
“arbitrary or unrestrained exercise of power; despotic abuseof authority.”
Then the fact is that very few governments ever fit the “unrestrained” section of that, especially ones with constitutions or a well armed populace. You could argue that there were cases where it was “close enough” to be considered tyranny, but even the Soviet Union and Nazi Germany had certain things that they couldn’t get away with.
The despotic abuse of authority depends on two things: What is despotic, and what is an abuse of authority?
Despotism is defined as: the rule of a despot; the exercise of absolute authority.
This can absolutely not be said of a minimal government, so this part of the definition is incorrect.
Abuse of authority is an entirely subjective term. Now I would argue that calling somehting someone’s “property” and still laying claim over it has a sense of absue to it, however at the same time in the real world property rights cannot be unlimited and there will be restrictions put upon property. With this said it is a single agency that has the power of direct taxation will be more abusive than its alternative. So the answer for that part of the definition is : Sort of but not really or particularly
Finally there’s the “arbitrary” in the first definition, defined as: subject to individual will or judgment without restriction;contingent solely upon one’s discretion" Now this cannot be said of the constitutional state, it has strict rules and processes which is must follow, especially if its agencies are strictly controlled. With this being said the actions performed by this state are undoubtedly somewhat arbitrary. With this said, there’s an arbitrary nature to law itself, in the stateless society as well as the statist society.
Now as for the question: “Will it become tyrannical over time” My answer is that there’s no iron law that says that it must, however each group in soiety has an incentive for allowing the government to abuse its power in X number of cases to benefit them. This will be counteracted insofar as publi opinion is driven by libertarian ideals, which cannot be changed. So the answer is that there are certainly factors which will tend towards tyranny, but there is by no means a certainty that it will continue. Nothing ever is in human society.