First, the "power to steal" is power granted by the government, this is not a result of voluntary exchanges. Second, no one can know what a "reasonable budget" or price is when something is monopolized. Something tells me that when the government builds a highway, because of its monopolistic nature, it does not do it in the most cost effective and profitable manner. The voluntary market, with competition and profit, would do a much better job providing roads than a coercive monopoly.
The
calculation problem also applies to road socialism.
Again, without market prices, there
is no rational way to calculate costs. It is impossible to predict what the market price would be, but it would certainly be lower than a price set by a monopoly. Competition between property owners would lower costs, etc.
Walter Block refutes these objections in more detail here:
Chapter 12
Tyranny by majority is still tyranny.