Obviously, a fully centralised government--such as a communist one--does not need to tax its population, since it is already in full control of the economy.
But a market-based government also does not strictly need to raise income, if it is in control of the currency; it can just print more, as required.
So it seems that taxation has three benefits: it can be a tool for wealth redistribution, it helps regulate government spending by tying it to total economic activity, and it doesn't force the government to be directly in charge of its own currency.
With the way the world economy works, if we want to have infrastructure and public services then taxes are a necessary evil. The big question is what exactly is taxed and how, and whether it is fair to everyone.
Like it does help pay for roads and stuff that makes life a little better, especially with the way the world is now with covid the economy has taken a huge hit but as long as governments don’t abuse it for their own reasons.