Who is supposed to enforce the law? Without an answer to that, you have no basis for any society.
The fact that SOME policemen initiate force when it isn't called for doesn't mean that the police force is inherently evil. It means our court system needs to be better so that we can effectively prosecute them and ensure they can't break the law again.
The courts and the law are on their side, not ours, so that will never work.
Who is supposed to enforce the law? Is that what they do, ehh? They are mostly revenue collectors, investigators, and warrant servers. There should be no revenue collection, and private companies and individuals provide the other services as they have in the past. Hell, I'm a private investigator, and I own a security business.
There is no good reason to have a police force like we have today. All of its functions would be better served by the private market. Communities would have courts, court appointed judges, etc. Again, as it has been done in the past.
The police force enjoys special protections and huge double standards compared to those who are not police. That is inherently bad for liberty and for those who are not police. We all want to go home safely at the end of the night too.
I've had a badge before too briefly as a county deputy, I have a brother who is a cop, and my wife's best friend's father is a special victims investigator. In other words I'm not writing this as some raging cop hater.
The current system is broken though, and it does not need to be replaced. It needs to be dismantled. Look around you. Almost all humans are peaceful and interact voluntarily. The few that do not would pay a heavy price for it by the communities they victimize too. All of it would be done without a monopoly on force by government police too.
This is not even getting into how police victimize communities, their high rates of spousal abuse, and how sexual predators and other predators gravitate towards the jobs on purpose.