One easy way to lower taxes and improve infrastructure:

Barcode infrastructure - each car has a unique bar code connected to an account. It gets scanned like a toll, but relatively cheap. 

Users of the road pay for its maintenance, which is capitalistically awarded to the lowest bidders.

Public buses (which will be self driving and really cheap, perhaps even free for a poor ppl program) would not pay anything.

As a society, we need to stop saddling poor ppl with cars anyways. Current infrastructure system is bloated - gov mis-uses most of the funds and overpays on every contract.