The Founding Fathers believed that the government had the power to tax, in your own home, and that all the laws the government passed applied, in your own home. They believed that the government could enter your own home and conduct investigations there, provided that the government had a warrant, which was issued not by you but by the government itself. Washington, Adams, Jefferson, Madison, et al were not libertarians in the modern American sense. They believed in limited government, but within its sphere, government was sovereign. And the things you've said should not be within the province of government were well within the founders concepts of government.
The power of the government to tax you is in the Constitution. So's the power of the government to take your land, and to enter your premises, and to put you to death.
The sort of government you dream of isn't the American one. I don't think it's ever existed.
A King can put people to death. The Bill of Rights, as envisioned by the Founders, did not envision that anybody could put anybody else to death in his own "castle" or anywhere else. If THAT'S libertarianism, they were statists.
I'm not against Taxation. I'm just against some taxes of the types and in the way they are collected today.
I know Our Constitution provides for warranted searches and seizures but that is abused today in a great many ways.
Washington and Adams did advocate a stronger central government but Jefferson and Madison advocated a less stronger one and all four would be appalled to see what ours has become. The Ninth and Tenth Amendments have been ignored for almost a hundred years. The Seventeenth has caused democracy to destroy the objectivity of the Senate.
The sort of government we have now isn't the American one. I wish it would go back to the Liberty it started with.