You fail to see the parallels. A state is a group of people, and taxation is money for that group. I guess you are thinking emotionally and with associations ("state" and "tax" is something "respectful" and "civilized" and "bedouins" and "robbers" are something "uncivilized").
First of all I didn't say 'bedouins' are 'uncivilized'. Bedouins are not just about what we discuss here and they are not all violent, unlawful, or "robbers".
Second, I see very well where people are making the very much false IMO parallels.
You are comparing modern states to opportunistic self-serving shortsighted violent families. Yes, states used and use violence also, but, no, they did not evolve from the kind of behavior that we are talking about, if anything they evolved in opposition to this. "Parallels"? similarity? maybe in some broad sense, but the differences are Hugh.
There is no structure here, there is no idea of a shared identity, there is no law. There is just the extended family (tribe) an the opportunity and willingness to do harm to others for profit. And no, historically this is not where we all came from, and no, this was not how most states where formed, and no, this is not what taxes are about.