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No. Voluntary cooperation is how transactions should be conducted. That's not how laws get their legitimacy. Certianly, things go smoother when everyone agrees. But that's not to say that anybody that objects to property rights automatically invalidates their legitimacy.

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No, but if the majority objects, then it does. At least in a democracy. That's why eminent domain laws are legitimate. But, you probably don't think they are. If not, you disagree with the majority...

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No. If the majority thinks that the earth is flat, is the earth flat?

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Are you saying that human rights are scientifically determinable? This I'd like to hear.