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The idea is that the outcome will be Pareto optimal, given any property rights assignment system.
Rothbard is operating downstream of Hoppe's arguments for why homesteading is the best property rights system ("best" being defined by properties that allow for peaceful dispute resolution).
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Right but I think it still needs to be clear who owns the property right (or, you could think of well defined property rights as necessary to lower transaction costs)
The homesteading principle is one way of allocating those property rights, but not the only way