Let's think realistically here. These tax-collecting companies will be under competitive pressures to extract money efficiently, and will therefore use methods that are quick, low-cost, and effective, so... well...
Let's look at it another way. Remember, in open markets companies must treat people relatively well, because potential workers can withhold their labor and potential customers can withhold their money and use it to buy something else, so these tax-collecting companies can't mistreat people by... um...
Well, probably not actual legs, of course. Waterboarding? Words and ideas I offer here may be used freely and without attribution.