Being libertarian because you want to smoke pot versus not trusting a authority that has the power to ban it at the state/federal level. My aggravation since being a high schooler is how the former became the household definition, because the mode averaged person has an allergy to cynicism for some gods' forsaken reason. These naive idealists, coinciding with single-issue fuckwads, are so invirtuously useless for society that the proggie NPC has a point when he paints a libertarian as a social loser living in fantasies. Then we have anarcho-capitalism, a designation stemming from humans irresistible urge to subdivide into counterproductive tribes, to be divided and conquered by the outside culture. Any hypothetical minarchist state and ancapistan would be indistinguishable in practice.
Paleoconservative/paleolibertarian would be great brands if they weren't syllablistic vomit doomed to irrelevancy to the average Westerner. Would someone notable start a movement that isn't complete anathema to social marketing, but not so vague as to be amorphously inclusionary? I propose the axiomatic party. Principled yet without delusion, unique, and only slightly more grating to pronounce than "Democratic" or "Republican". I suggest taking a lesson out of Heinlein's History and Moral Philosophy class, sticking to uncomfortable, unambiguous social truths as a serious science. Of course the conditions in Starship Troopers were different, where hard men emerged out of truly hard times, and not bread and circuses limbo we're stuck in.
If my axiomatic ideal were attempted in my lif, neurotypes and grifters would just pervert the meaning like they did to liberalism. Principled will be confused with being a dense zealot. But really, libertarianism needs to rebrand.
I find myself philosophically aligned with what you call the "utilitarian libertarian" but not at all with the ""permissive" school. In fact my anarcho-capitalist dream is that it will be legal to go vigilante style on the libertines. Anyone blasting loud rap music or dressing like a whore gets one warning and then gets shot (out of our territory in a cannon), in accordance with the rules of our neighborhood pact. Don't like it? Stay away from my voluntary association township, hippie.
That said I understand it's idealism and largely unrealistic with real people involved, to the degree that it's odd to call it "utilitarian". Utilitarian more accurately describes the oppressive web of power structures and politics that govern the world today, because that's what humans settled on after 1000s of years of history.
Right, it's a pipe-dream for enough people to break free of the matrix (incl. the useful idiot commie left) even if doing so is necessary for humanity to not collapse in the post-industrial age. Just like how diminishing religion didn't change people's propensity towards dysfunctional conformity, but discarded the positive effects of official religions with the masses embracing covert quasi-religions.