Morality and Voluntaryism

Morality is an idea that can be confusing. To some, morality is whatever their god says it is. To others, morality is what each person decides it is for themselves. And to still others, morality is a tool used by some to force their values onto others. But what if morality isn't any of these things? What if morality means something concrete, something objective? And if it does, what does it have to do with voluntaryism?
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