Most of the world's natural resources and land have already been claimed. This means that most people have no choice but to work for the people who control those resources and land.
Not only that, land that once belonged to the people was privatized during the Industrial Revolution in order to create a landless class of people that needed to work in the new factories in order to eat. It was hard to convince people to work in them otherwise.
Land belonging to the people is a horrible system that creates huge inefficiencies due to moral hazard. If you look at the agricultural revolution in Europe, a major reason for increased crop yields was private property. Incentives matter.
You point to efficiency, but to achieve that efficiency, people were driven off of land that their families had lived on for millennia in order to create a class of people that were desperate enough to risk their lives and limbs, and their children's lives and limbs, in dangerous factories for wages they couldn't sustain themselves with.
Millions of people went from self-sufficiency to being desperately poor and without homes because their land was privatized by governments that were in cahoots with industrialists.
