MA bridge condition improved over the past decade fairly significantly, about $3bn was spent on the Accelerated Bridge Program that was authorized in 2008 and concluded around ~2017. You can look at the more details and the results here: https://www.mass.gov/service-details/accelerated-bridge-prog...
Last year's transportation bill (which passed) cues up various additional infrastructure investment, including another $1.25bn for state bridge work (+$70m for small local bridges), and is projected to reduce the % of bridges in poor condition further over the next couple of years.
There are some nice slides here about where things are projected to go over the next few years thanks to that (11 + 14 in particular). Generally speaking, you can expect to see continued improvement in roadway infrastructure in the state. https://files.engineers.org/file/ACECMA-2021-Highway.pdf
And that was all before the federal infrastructure bill.
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I am less familiar with PA, but AFAIK they hiked their gas tax significantly to raise infrastructure spending a few years back. Whether it was enough or not I don't know. However, as MA illustrates, it takes a while of making sustained investments to start to see noticeable results and dig yourself out of long-term infrastructure investment deficits.