This is kind of an old video. Its from 2012, but it does a good job of explaining the thinking behind the libertarian and anarcho capitalist views and why government is a horrible idea. David Friedman is not a "limited government" guy his father Milton Friedman was. He explains the thinking behind what an anarcho capitalist society might look like.
We now know of a full fledged ancap society in Cheran Mexico. They became fed up with the politicians and all the divissiveness and decided to kick out all of the political elements including politicians and government police as well as organized crime. They have no more of those elements witch means no more elections, voting, taxes, etc. They have private police and cryptocurrency. As a result they live free and prosperous lives with little crime. They haven't had murders or kidnappings which were very prevalent prior to becoming a stateless society.