I think in a Libertarian world you can still have crimes for negligent or reckless conduct. Reckless driving, for example, could still be a crime. Libertarianism doesn’t mean that one gets to do whatever one wants until someone gets hurt.
Incidentally the typical attack on HC laws is that they look to motive as a crime in and of itself. Criminal law requires intent but does not, as a rule, look to motive. (Note that the prosecution may have a hard time proving its case if it can not show the jury a motive, but that is not the same thing as the law needing a motive) Intent is not a synonym for motive.