I'm not sure when "subsidizing" came to mean "giving people something back for the money you took form them in the first place".
I'd love to see a less auto-dependent society, but it's not accurate to say that drivers are subsidized. Perhaps one answer would be to get rid these myriad taxes and fees and just privatize the highways - make it fee for use. Right now, very few drivers ever see the true cost of their transportation choices because it's a little bit here, a little there, and so on.
https://taxfoundation.org/states-road-funding-2019/ &&
https://taxfoundation.org/gasoline-taxes-and-user-fees-pay-o...
Drivers are heavily subsidized.
I wonder if there's any way to come up with a net value overall for those subsidies? For example, pre-K education is fully subsidized in some states and it looks like the total economic results over a long time are very positive. How would you go about figuring out if those road subsidies are too high or too low?
You'd want to look at total benefits (easier movement of people and goods) vs total costs (environment, sedentary lifestyle health problems, wasted space in cities).
Also, we do not need 'one size fits all' solutions for the entire US. What's appropriate for Wyoming might not be appropriate for the California Bay Area, which is plenty dense.