Or you could just impose a gasoline tax as a proxy for travel (oh hey that's exactly what they did.)
The free market is only efficient when transaction costs are low. For many forms of travel, the cost of monitoring such travel makes tracking far too expensive. Even just understanding a toll scheme has its own cost; you don't want to be too worried about misestimating the cost of every drive down to the grocery store.
For long-distance interstate travel, however, toll roads make a lot of sense. This is particularly the case where trucks are involved. You charge proportionally to axle weight, so the companies doing the shipping pay for the damage they are doing to the roads.
In other congested areas, tolls can serve as an effective form of rationing, particularly over bridges or through tunnels. This encourages more efficient resource usage, e.g. by making carpooling more worthwhile. This also makes more sense for city centers with congestion-charge fees. The alternative rationing scheme here, "sitting in traffic", is a very bad way to pay for things and imposes its own very high transaction costs.
This already happens in many places, especially with tunnels and bridges.
It's literally regressive.
If life is too hard for people with less money, society should decide how much money to give everyone to make it better, and then let them make their decisions -- instead of declaring, "Passenger Vehicle Traffic And Parking Lots Are Virtuous And Worth Subsidizing."
Meanwhile, the government generally ends up building too many roads and not enough transit. All this easily overwhelms the other inefficiencies.
Other bad plans where we don't charge for resources: Let's give all the people free electricity, so poor people don't have to pay something regressive! Then a few jerks can use it to mine Bitcoin until there are brownouts everywhere.
Government is already reading license plates, might as well attach it to a billing system and charge people accordingly. Want to travel during high demand hours? Pay more. Watch businesses and people adjust their habits automatically to better use the shared resource.
And if the concern is that poorer people get shafted, then give them a certain amount of cash or credits for road usage.