>But also the idea of living in a forest is not really an option for most people in the modern world. So my personal take is that the social contract is inherently non-voluntary in the modern world.

This idea is ridiculous because even if you could go live in a forest a large part of the enlightenment was that states grabbed control of the periphery (forests) of their domain. You can no longer run of into the forest. The state will still want you to fit into the existing ownership structures, censuses, taxation regimes, etc. If you commit a crime it will still be decided by the existing courts.