To me libertarianism is a philosophy that originated from the landed gentry type of human who waxed lyrical about freedoms while owning slaves. Their ultimate goal was to convince poor people the current economic system is good for them and that ignore their wealth accumulation creating massive wealth divides. Do you know Voltaire's character Pangloss? I feel like that's the quintessential libertarian. A person who was born into privilege at the top of the hierarchy convincing society that the current economic and social order is the best possible outcome. It's just a bunch of well off people trying to convince poor people they deserve their wealth. I think that is a summation of libertarianism in a nutshell.

I haven't met one libertarian who believes taxation is theft that would survive pre civilization human society where there was zero public infrastructure. Never met a self labeled libertarian that was that self sufficient. It's mostly lazy people who don't want to pay taxes.