Is taxation legal? Yes. It’s in the 16th amendment of the bill of rights and US code of Law.
"The Congress shall have the power to lay and collect taxes on incomes, from whatever source derived, without apportionment among the several States, and without regard to any census or enumeration."
26 U.S. Code § 63
26 U.S. Code § 63 - Taxable income defined
Is taxation theft?
There is a social contract which includes taxation and the government enforcing it.
Your parents agreed to this contract by choosing to live in the US and the power of custody over you when you were born. This makes you part of the social contract legally.
If you immigrated to the US, you have signed this contract by taking your oath of citizenship.
If you are here on a visa, you also agree to follow US laws, including taxation.
You can leave at any time if you want, good luck trying to find another country that will not tax you for your income.
Do you have the option to not pay taxes to the US? Sure.
Leave the country.
Lobby to have the law changed.
Romans 13:1 1Let everyone be subject to the governing authorities, for there is no authority except that which God has established. The authorities that exist have been established by God.
Romans 13:5-7 5Therefore, it is necessary to submit to the authorities, not only because of possible punishment but also as a matter of conscience. 6This is also why you pay taxes, for the authorities are God's servants, who give their full time to governing. 7Give to everyone what you owe them: If you owe taxes, pay taxes; if revenue, then revenue; if respect, then respect; if honor, then honor.
liberatarians are silly people.