If we’re taking government as granted (i.e. not considering the possibility of a natural order society), then I think the least-bad alternative is fully-privatized government titles which can be bought and sold. Basically, take the idea of European titles to nobility but allow these to be bought and sold by anyone (no class restrictions). When Vanderbilt has built his railroad and shipping empire and is wondering what to do with all his spare cash in his old age, he can go into the market for titles and buy an “earldom” or whatever. This entitles him to collect the tax revenues in the territory over which his title ranges and pay those up the hierarchy, with the king or whoever sitting atop.
And the “ideal taxation” as I’ve explained in another post would be fully random:
So, if we must have government, let us at least have government that minimizes the harm to the individual citizen. Titles which can be bought and sold combined with a lottery-tax would come as close as anything can to accomplishing this under a system of dual-law.