The average federal tax rate is 14%, and the USAID budget was about 0.8% of the federal budget, so you’ve been paying about a 0.1% tax to fund USAID.
The actual true cost to the people for the additional debt is hard to measure and likely hits a different generation that the people who created most of USAID. Instead of saying people payed 0.1% to fund USAID you should say they made at least that much additional debt every year. You could not spend 0.1% more than you earn over the course of like 60 years but USAID did that for everyone.