stealing from others, but we'd certainly all be better off if we didn't, both morally and in an economic sense.

Interesting you've selected a political philosophy saying the state is magically different than an individual. That some document has magical power to make something moral. I guess that's the way most people see government these days - as a replacement of god.

I'd say most of western political philosophy (particularly that which led to the formation of the US) is moored in the idea that the state derives its authority from the governed. Which means the state has no more right to tax others than an individual does. People like John Locke went through some mental gymnastics explaining how the state obtains this power - basically an implied consent to be governed.

As for main stream philosophers who address taxation as theft you can start with Aristotle and go from there. They all address it. Cicero says the nature of state rulers is nothing more than piracy writ large. He's pretty main stream.

There are some honest modern philosophers like Bertrand Russel who just admit government is power and whoever has more power takes from others. There's nothing wrong with being honest about taxation or anything else. I'd rather deal with honest people like Russel than government is god people with whom it is impossible to reason.