I agree that the rules don't always fit every situation. However, there is a need for rules in a society, if only to establish a baseline for what is okay and not. Obviously, in the middle it can get quite cloudy and then it can be that different societies come up with different ideas on where the line should be drawn (as in your homeschooling example). At that point, I believe it is the duty of the citizen to challenge the laws (peacefully!) to establish a precedence and to perhaps push the authorities to re-interpret the wording and spirit of the laws. After all, there is no such thing as an absolute law, they all change and evolve with time and situation. Things that were "obviously" right and wrong a century (or even less) ago, are now considered archaic ideas.
Personally, I think some sort of laws will always be necessary. To believe that a society could be completely and without exception altruistic would have to deny that there could eventually be a selfish mutation (I have read papers that try to model this, and a complete selfish or complete altruistic society is energetically unstable, the balance is (as always) somewhere in between). Also, infringing on another's freedom's and rights doesn't have to be done with ill-intent, it could always be unintentional or just the boundary clash between two prevailing good intentions....