In the UK there is something known as “vehicle excise duty” which the owners of some motorised vehicles have to pay. Before 1937, this was paid into a road fund used exclusively to pay for the creation of the road network. But from that date, roads are funded out of general taxation and local council taxes.
Which means that everyone (or just about everyone) is paying for the roads and that is no bad thing – we all benefit to some extent (although the pollution is a bit of a drag).
The interesting thing is that because local roads are locally funded (to an extent), there is a good chance that a pedestrian is paying more for the roads within a city than the car driver – the driver is more likely to be a visitor to the city and thus pays considerably less. So by the argument that whoever pays should have priority, it should be the pedestrian who does!