I dunno. People can’t be forced to not drink and drive. They can’t be forced not to shoplift. Short of having a cop watching everyone, all the time, I’d say that adherence to the law is largely voluntary.
I disagree, the government can take away your vehicle and stick you in a cage for years. That’s compulsion in action, not volunteerism.
Do you think if you removed the laws (meaning the compulsory machinery of the state) that observation would remain, because it is ‘largely voluntary’?
What you’re describing is called anarchy, and it doesn’t work because someone decides to become a warlord and suddenly compulsion is back on everyone’s menu.