Yes and no.
Minimal government was a lot easier when societies weren't so large and so anonymous. People generally don't fear or try to rob people they know. They just help one another. Heck, you don't even need money to accomplish mutually beneficial trade within small and trusting units (families, close friends, etc). Nowadays, govt has to provide that help to many, and that means taxation. For better or worse, that's just the way it is.
Present day, things get pretty violent and selfish pretty fast without the "overseer" idea. Human brains are most comfortable in grouped networks of about 50-300 at most... after that number, everyone else is basically a "stranger." That has been researched extensively with social science, social media, phone records, etc. That is why religion, tribalism, police, security cameras, fraud protection guarantees, and everything have evolved. People want to feel safe (usually by being in "their" group), and people also behave better and feel taken care of when they know they're being watched. Sad but true.
A peaceful society with charity instead of most taxes could work if everyone felt safe and secure and personal among one another, but unfortunately, "fine manners require the support of fine manners in others." It will be hard to ever have that work well, outside relatively small groups. With internet and high independence of online ordering and communication, people's actual local network of trusted people they see "IRL" is sadly smaller than ever. Taxation is unfortunately essential to have the lonely and scared masses feel secure. Taxes or not, it would be hard to run my business with a bunch of violent, mentally ill, starving and scared people all over the streets