No, every legal system is like that

I will address third party judgements.

You suggest completely voluntary contractual agreements. What if the parties disagree?

*Someone* has to be an independent judge, even if it is just those who consider doing business with any of the parties to a disagreement, and people will differ, which is fine. But in practice, few individuals would want to investigate and fully inform themselves of all disagreements by all parties with whom they might consider doing business; they will instead rely on third parties, whether that be a coercive central government or a voluntary distributed system of judgement (whether friends or service bureaus), and then you are right back to people making judgement calls.

And this is all pretty off-topic, but I suppose that too is a judgement call.