Imagine a free society with private police there to serve the community, hired by the community, paid by the community, and without a monopoly so they actually need to serve the community. Might look a little something like this..

People hate cops because cops serve politicians, not the community, cops prioritize their own lives and safety over that of the community, and cops oppress minorities and patrol neighborhoods they are not from, have no attachment or allegiance to, and treat as hostile invaders.

All of that changes when you break the State monopoly on policing and move to a competitive community service model where a bad police force simply goes out of business and disappears, and they can't just shoot people and escape justice.