The environmental costs are one thing, and those could be served by carbon taxes. But that doesn't address the congestion costs or the infrastructure costs.

Ideally we'd separately tax each thing appropriately: Tax carbon to account for emissions, tax road use (per mile in accordance with vehicle weight) to account for road wear, and tax congestion (by time-based demand for commuter corridors, bridges/tunnels, or central business zones) to account for the congestion cost of adding another car to the road.