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Roads,schools,universities,law ,democracy,
All pre-date tax as do great building works,society,
medecine,hospitals ,science and cities.To name but a few
of mankinds tax free achievements.
Yes, this may have been the case, though times have changed, civilisations prosper and become more costly and the king can no longer pay for all his paupers unfortunately.
I'm not sure when the constitution was drawnt up as I don't know much about it but I would hasten to guess that the population has drastically increased and wages have gone up too hence the fact that everyone has to pay their way