A recent Op-Ed in the New York Times sighs, "America’s infrastructure is now so wretched that, in some areas, the only people who drive straight are the drunks. Anyone who is sober swerves to avoid potholes."
So yes, the Federal excise tax on gasoline, which helps pay for highway maintenance, has been stuck at 18 cents a gallon since 1993, quite unaffected by inflation or the slowly decreasing use of gasoline. And states and local authorities are broke.
But the way road infrastructure is built and managed could also be a lot better. My dad, a retired civil engineer, always says that construction is far easier than maintenance. He especially sighs at "vanity" projects in developing countries, where developed-world roads are built, complete with beautiful overpasses and glorious bridges, but where maintenance funds are not assigned, so that the steel and concrete glory starts to crumble faster than you can say "repair funds".