“Judaism beleives in immmutable proprty rights, but that those rights belong foremost to G-d by virtue of His creating the property. Socialists simply disregard property rights in outright theft. “
The last chapter of Peah describes a system where the government, not through democratic processes, taxes all who have to provide food for those who haven’t. Rambam codifies this system, called a “kuppa” as halachah in Hilchot Matanot L’evyanim, where he also provides that the government can force you to pay and even give you lashes if you refuse.
That may or may not be theft, but it is certainly a rabbinic mandate in Judaism.