Old roads in Europe that are subject to truck and car traffic crumble very quickly unless meticulously maintained.
http://facweb.knowlton.ohio-state.edu/pviton/courses2/crp776...
Skip to page 4, where it covers ESAL. A standard trailer is expected to do around 800-1000 times the damage of a standard passenger car. The conclusion:
"When discussing road wear cars don't matter: road damage is effectively caused by trucks."
So, if road use is charged by a steeply progressive schedule, and driver cost is not an issue, will we see fleets of light autonomous trucks replace the heavyweights?
That's possible too, but would be tremendously less efficient as you'd have the same air resistence (or at least a substantial amount) but without the same cargo capacity.
Railroads tend not to develop potholes.
Also, remember that roads aren't made out of head-hardened solid steel - if they were, they'd probably nearly forever.
Rail itself may not get quickly damaged (though they do) however rail wheels, which are made of relatively softer metal, develop all kinds of damage, require the machining away of the damaged surface periodically (as in, wheels shrink over time as mateiral is cut off it to get to new metal below) and only last a matter of years for heavy haul environments: http://www.asa.transport.nsw.gov.au/sites/default/files/asa/...
Search for spalling, shelling and rolling contact fatigue as examples.
(There might be a paper in figuring out the sweet spot given hypothetical costs ...)
Though the Romans didn't make heavy use of them, one of the first major inland cargo transport systems was canal networks. Canals are almost the equivalent of railroads (trading speed for bandwidth), and have the useful property, I realised a while back, of not requiring roadbed maintenance or resurfacing. Canals don't develop potholes, get muddy, or suffer from the carriage of heavy loads.
The canal boom in Europe began proper in the 1500s, though there were some earlier instances.
One element is infrastructure depreciation. As you note, the materials and construction of Rome tended to last. Stone and Roman concrete both in particular don't degrade with time (though they may suffer earthquake damage). Things built tended to remain built over timescales we are not familiar with, at the very least, centuries rather than decades. Depreciation expense was far less.
Another factor was a much smaller natural capital expense. Not an entirely absent one, and there were problems with deforestation, salinisation, and cropland depletion throughout the Roman empire, as well as hazards introduced by commerce of plague and disease. But the major capital depletion of the modern world, the draw-down of fossil-fuel reserves at rates millions of times greater than their formation, was not present, nor various consequences of such actions, including of course, greenhouse-gas induced global warming and ocean chemistry changes.
(Among the issues Rome did have to deal with was heavy metal pollution, particularly lead and mercury, and particulates emissions. It wasn't all roses. But by relative magnitudes this was a very small fraction of present capital expenditures.)
Vaclav Smil's Energy and Civilization is an epic exploration of the role of energy in history, including the Roman Empire.