The "Allodial Title" crowd will tell you that taxation is theft. Right idea, wrong crime. Taxation is extortion. Rents extracted under the threat of violence. But it's extortion by an entity that has a local monopoly [1] on violence--once you've paid one tax collector, you don't have to pay another. And if a second tax collector tries to extort you, the first will do violence to them until they stop.
The constitutional innovation of the Magna Carta was that it enshrined a right of the people being taxed to have a say in how much they were taxed. It became very traditional, so much that when an English King (Charles) figured a (legal) way to do an end-run around it, it fractured the state and caused what we call the English Revolution. (Aforesaid issue also a casus belli for the American revolution.)
“I like to pay taxes. With them I buy civilization” - Oliver Wendell Holmes, Jr.,
The counter-case is what goes in poor Latin American cities, where the state has collapsed and extortion is carried out by a patchwork of local gangs on an ad-hoc basis, without a schedule of how much is due or when it is due. When a gang acquires a territory (even a few blocks), tax collection is rapidly regularized--it's far easier to get money from people who are used to paying it, know how much to pay, and have set aside money for that purpose. Figuring out how much people can pay is always a tricky process--take too much and people go bust and lose the ability to pay in the future. Assessment is a tricky process--discovering the right level for "as much as possible but not too much" requires a lot of trial and error.
In an inflationary context, ad valorem taxes (on the value) in general are necessary - a share of the value rather than a fixed value, lest taxes be degraded to peppercorn values by inflation over time. But inflation disrupts the local assessment equilibrium, requiring a lot of fresh 'price discovery', with the associated inevitable error.
The less 'state capacity' exists, the more it relies on tariffs and other imposts. Limited number of locations, limited number of participants, and if the merchant doesn't return, you've overtaxed them, so the feedback loop for discovering the 'assessment equilibrium' is short and simple. Property taxes are the next easiest. Property is worth money; the worth of property is proportion to the income it brings. Real estate is an especially nice to tax--it doesn't go anywhere, and it doesn't change much. In a medieval context, the taxes your grandfather paid on farmland is probably a good rate for you as well. (With some local administration to adjust to circumstances i.e. bad harvests). The value of a house is generally a fixed ratio for the rents charged for it [2]. Hence the value of revenue a state can expect from property is relatively reliable. And for things like houses, comparables are readily obtained.
An ad valorem tax on other economic activity (sales, VAT) is harder to collect and requires substantially more state capacity. The number of participants is larger, what is being taxed is more heterogenous, and people not cheating on their taxes requires substantial record collection. Income tax has yet higher tier of difficulty-requiring tracking not just corporations, but more numerous persons, and a commensurate level of state capacity required.
A hierarchy of taxes thus runs:
- "Everyone pays X dollars"
- "Everyone pays X dollars per house"
- "Everyone pays X dollars per chair sold"
- "Everyone pays X dollars per dollar earned per chair sold" [3]
[2] Why assessing owner-occupied housing is harder - there is no monetary rent, and the 'owners equivalent rent' has to be estimated. Owner 'customizations' in terms of improvements and tolerated nuisances also highly personal.
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