Those costs would be the costs that “we the people” accept as valid usage of taxpayer money. You could throw in costs for other public interests like emergency logistics (e.g. FEMA moving goods and personnel for hurricane relief), first-class mail, etc., and you’re still probably only accounting for a very small portion of the taxpayer money that is currently going toward regular interstate maintenance.
The rest of the taxpayer costs are just subsidies of private interests, namely commercial freight and personal transportation. Those subsidies aren’t “free.” They come at the expense of other private interests, like freight and passenger railroads. These subsidies undoubtedly drastically change the economy, pushing everything toward just-in-time fulfillment, increasing greenhouse gas emissions, etc.
I would like to see these private subsidies reduced or eliminated, perhaps by charging tolls.
In other words, I question the premise that federal interstates reduce the cost of freight if you include the environmental externalities.
All in all, if you have such a strong proposition about not paying for roads, it seems like you should already know these things. Now, could roads be replaced? Probably, at enormous cost both financial and environmental. Building massive rail networks is not quick or cheap, you’re talking about megatons or steel and iron being welded after all.