Roads are also rivalrous (you and I can't simultaneously occupy the same piece of pavement) and excludible (don't pay gas taxes, you get no gas, you can't ride).
If gas taxes were impractical, roads might be a public good.
We also collect plenty of taxes for transit. Our taxes just buy us 1/5-1/100 as much as every other country in the world, because our transit systems are incredibly inefficient.
https://pedestrianobservations.wordpress.com/2013/06/03/comp...
https://pedestrianobservations.wordpress.com/2011/05/16/us-r...