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It’s quite expensive to buy and maintain a car

Yes, and public roads should be an additional cost.

I'm not interested in banning cars, but I am interested in charging appropriately for sprawl and air pollution.

Car registration fees / gas taxes do pay for that?

They contribute to but don't even come close to covering the total cost (at least in the United States but I suspect it's similar In Europe)

Driving is net subsidized, even before pricing in these externalities.