It’s voluntary because you can leave
Yes, and both can leave. Both may not think they can, but they can.
By the same logic if you are held at gun point & asked for all your money, you can choose to not give it up at the risk of getting shot. That does not make giving it up voluntary.
& having the “choice” to not give it up does not make the interaction an exchange instead of stealing.
Even if the robber gives some of the money to charity or buys the victim a drink with the stolen money doesn’t change the fact that it was stolen.
This all of course assumes you agree that money you earn from your own work belongs to you. You could try to argue all money earned/value created belongs to the group.
Can without repercussions?
All actions have repercussions. Good, or bad. That said the repercussions of not paying taxes differs by country. He IRS arrests you and the CRA sends strongly worded letters.
