Explain what you mean by "voluntary society".
No institution of coercion.
Right now, coercion is wrong for everyone but government. It has a monopoly on the
legitimate initiation of force.
Remove that legitimacy.
What is left is everyone playing by the same rules, interacting voluntarily because that is the only "legitimate" way to interact.
There will still be people who trespass, who rob, who murder, because there have always been such people. They will simply no longer have a badge, uniform or "government" to work for that will grant them immunity from liability for their actions.
This isn't about the trial. This isn't about being held responsible, it's about making a decision where the stakes are so great that whether you win or lose in court doesn't matter, because if you don't act, you lose anyways, and acting aggressively is the route by which you stand to lose the least.
I'm again left to wonder WTF this has to do with the existence of an institution of coercion or not.