It's absolutely possible, though it is dubious to claim it's desirable. How much of humanity do you think had governments 10,000 years ago? Think the ones that did looked anything like the ones we have today? They managed to get by, but at a cost of next to zero mobility, little recourse to grievances, violence that spirals out of control, etc.
If you're actually curious about how people interact in small groups, bands, tribes, without a large state government, get your hands on "The World Until Yesterday" by Jared Diamond. Fascinating book and it certainly convinced me that we get a lot more good out of government than you seem to think. I'll take it, even with its inefficiencies.