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I'm still thinking which ruling system doesn't need force in any of it's form. I can't see it.

Lol, the tell me it is called 'freedom'.

But, it does require that each person be responsible for quelling violence in their vicinity.
Often without help.

Voluntary federations can police larger territories.

This novel outlined a good one, in 1887.

Thanks for the hint. Need to check the novel.