This was the case before countries existed. The territories used to be limited to how far the human cattle could walk, be productive and walk back home in day.
Freedom is only possible where the possibility of encountering other humans is negligible.
Whenever humans aglomerate, non productive humans require handouts to live. If they do not receive then they die. If they don’t want to die, they will steal. If the other humans resist, there will be a struggle and whoever wins becomes the state.
I think keeping population below 1 per square kilometer and spread out is the best solution to the state predation problem.