If autos were taxed their fair share - they should be taxed more than Real Estate - yet property taxes are a much larger portion of municipal revenues...
Gas taxes in most states have a very small percentage (or none) of municipal budgets (52% of the city that is roads and parking lots).
Gas taxes mainly pay for state routes (state level) and highways (federal level). This is a VERY small percentage of the total road network.
With modern zoning laws, that means car infrastructure.
The negative externalities from driving far outweigh what automobile drivers directly pay in cash.
Automobiles clearly also provide great benefits. But they are a great example of a system with mostly personal/private gains based on mostly public/socialized costs.