Joseph in Egypt charged 20% on yields of crops and herds.
Moses charged 10% (tithe) on farming income to support the Levites and Priests plus a one-time registration head-tax or poll-tax (half-shekel) to support the Tabernacle and later the Temple.
Matthew 17:25 refers to customs (indirect taxes), also a kensos (census), a poll-tax or head-tax assessment that was paid annually on persons and land and businesses.
In Matthew 22:19, the nominated coin (called a nomisma) for paying tribute (kensos) to Caesar was the Roman denarius. It was a silver coin weighing about 4 grams of about 80% purity. For the Temple tax in Matthew 17:24 (the half-shekel referred to by Moses), it was the two drachma, an 8 gram silver coin from Tyre of much higher purity, over 90%. The kensos is also referred to in some verses as phoros, the Load borne from these direct taxes.
See too, the use of Hebrew words in Ezra 4:20.
This continued in the Holy Roman Empire, in Germany, where ever since the Middle Ages, the Holy Roman Empire had "taxation at source".
https://www.howtogermany.com /files /2012-10-30-abc-on-taxes.pdf
Instead of calling it PAYG as we have in Australia, it would be tithes (one-tenth) taken out for the local church "up front" , and then a one-off "poll tax", a bit like that 2 drachma annual temple tax (a four-drachma coin for Jesus and Peter that was in the fish) could be taken out for each worker, and paid to the government, also "up front" as and when necessary.
However France after 1789, England, Ireland and USA, Australia and New Zealand and Canada, have generally preferred to make it voluntary when it came to giving to the church. And governments have always found it notoriously difficult collecting tax, ever since Adam, from what I can see. You could insist on a poll tax, endeavour to take tithes, but so many found them difficult to police, without a lot of corruption. Customs Duty and Sales taxes on beer and wine, though it raised prices, seems to have been a little simpler, at an entrance gate to a market, as in Jerusalem.
Re PAYE or PAYG's history, according to Google and Wikipedia, they were brought in during World War 2 by four of the countries in that previous paragraph, USA and Australia in 1942, Canada in 1943 and UK in 1944. It meant the government had a huge cash flow increase to assist with those war expenses, and much more accurate because there was less conflict of interest when companies took it out of employees gross wages (who weren’t fighting).
Very unpopular, though, unless you’re in a war. And at the time, they were mainly taxing rich workers, who hadn’t signed up, using calculators and business machines, and later on, computers. Yep, no other country was really set up for that (or probably would have stomached it). In Asia, China still doesn’t insist on taking income taxes out up front, nor does Japan, India etc, nor do they do it in Russia, the Middle East or Africa. Which is most of the world's population.
New Zealand started PAYE in 1958, Ireland in 1960, France is just started taking it out from 1st January 2019. No wonder unions are rioting
Still, by legally ensuring large sums of tax do get to the government early, it has helped those developed countries' governments over the past 77 years.
Resident tax rates 2019–20 Taxable income Tax on this income 0 – $18,200 Nil $18,201 – $37,000 19c for each $1 over $18,200 $37,001 – $90,000 $3,572 plus 32.5c for each $1 over $37,000 $90,001 – $180,000 $20,797 plus 37c for each $1 over $90,000 $180,001 and over $54,097 plus 45c for each $1 over $180,000 The above rates do not include the Medicare levy of 2%.