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How is someone driving to work in their private vehicle public benefit? The roads are for driving on, nothing more, nothing less.

Not true, the roads are for the use and benefit of citizens.

How about tax-paying non-citizen residents, tourists etc?

They pay for their road use through gasoline and sales taxes.

And Waymo got a deal from Arizona that waived all sales tax and provided for unlimited free gas?! That's outrageous!!

Non-citizens and immigrants, even "illegal", benefit citizens.