Yes. This already occurs.

All of these organizations live by the “Marxist” notion of from each according to his abilty, to each according to his need. But, they do so on a voluntary basis, so they are all in accord with libertarianism: nunnery, convent, kibbutz, commune, collective, syndicalists, cooperatives, monastery, abbey, priory, friary, religious community; family.

In all of these cases, people live by the philosophy of “from each, according to his ability, to each according to his need.” Since this is done, at least ideally, on a voluntary basis, yes, voluntary socialism of this sort is indeed compatible with libertarianism. However, socialism is also defined as “Government ownership of all the means of production.” And this version of socialism is of course not compatible with the freedom philosophy.

Bob Wenzel is a brilliant libertarian, and he and I agree on, oh, 99% of all issues in political economy. But not on that one.