The issue with your claim that taxation is a negation of rights, and that makes the UDHR a contradiction, is that in a society where every life is valued on an equal basis (e.g., a framework for universal rights), basic fundamental rights are privileged above the benefit of enjoying success.
Consider a family. Naturally, the parents provide for the children. Children are, essentially, leeches on the family unit. All they do is consume, and produce nothing for YEARS for the family. We would never argue, however, that a father or mother has the right to enjoy and keep all of the resources that they worked for, and let their children to without, merely because they earned it, and the children did nothing. We sacrifice as a natural tendency, sure…but also, we are investing in people that will grow to, hopefully, produce and care for us as our capabilities become more and more compromised.
That’s the difference between fundamental human rights and the “right” to enjoy the benefits of success. Yes, we impose tax requirements in order to ensure that some fundamental rights are met for everyone. But we do not, hopefully, do so to a degree that there is no motivation to refrain from working, or achieving, so that those who work actually do benefit from it.
The society must be viewed as a family, in that we reasonably expect certain sacrifices from those who can to support the next generation, or those in need, as a loss of life or potential is detrimental in the end to society overall. If we did not support members of society generally, we would not slough off the least productive (as the whole Darwanistic implications of that would suggest in an insidious way) as there is no telling where TALENT will come from. Rather, we are multiplying our general chances of producing good producing members of our society. Those members will push progress and grow production in better and more efficient ways when given the right tools.
Two of those most basic tools are good education and good health. The person who cures cancer may be born in an area where if there were no taxes supporting education and health, he or she would die in infancy, or never learn to read. Meanwhile, the man or woman who was born luckily into wealth gets a business degree, and is stricken with lung cancer at 35. That person would have implemented an investment policy at their firm that would have revolutionized capital growth. But they die instead. Because their parents never paid the taxes, and neither did they, that would have given the person who would have cured cancer the education and health care needed to complete their education and research.
If we do not privilege the basic human rights that provide all the opportunity to succeed over the profit that those who given those opportunities and took advantage of them actually enjoy because of that work, we are more likely to see ourselves worse off.