The problem with theft as the foundation for society is that it corrupts everything that is built on top of it.
What most people (slaves) lack is a vision for a much freer society that doesn't rely on violance and extortion but free association and voluntary interaction between consenting adults who fund collective issues on a voluntary basis.
We achieve this within families, companies, cooperatives, associations. Why should this not work for states? It's just the next logical step.
But I understand why masters cand slaves alike do not want to give up their identities. People care attached and married to their false or limiting identities much more then to a fulfilled life.
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