Taxation is not theft.

An example: if a private firm were to build all the roads in one area, and when leaving from your house to go to work, you have to use his roads and pay him money for using them, I’m guessing that’s not illegitimate.

If the builder of the roads is not called Road Build Inc. but Republic of Roadia, does that make their charging yout use of their roads illegitimate?

This obviously implies only to stuff called public goods, like roads, or street lighting, or lighthouses, but that, IMO, would mean that taxes that the state takes as charges of services you use are legitimate.

As I said, it applies to menagment of public goods where the state is firm that has a sort of natural monopy, and not to other services such as the police or similar.

Also, another tax is IMO legitimate, and is totally communal in nature. As I said, I don’t thing that land is legitimate property. So, you don’t have property of land, but by your use you exclude other people for it. Because other people have the right to liberty and thus the freedom of movement to go wherever they want, you have to give other people some sort of compensation so they acknowledge your ius ad rem over land (acknowlegde your exlusive right to be on that land), making land value tax legitimate.