I fully understand the concept of a few guiding principles that can be extended to determine the rules of a 'moral' society. This isn't unique to the libertarians. My issues with this process is that when the principles result in an unworkable society, then one must reject the process.
That is precisely my issue with Milsted's arguments, and while I don't agree completely with all of the libertarian's ideas nontheless it is weighing those ideas against Milsted's assertions that make the flaws in his arguments apparent.