It might cost a semi truck $50k a year, but this also points in the direction of not tracking specific usage even for trucks: Just check the odometer during the annual inspection and then distribute the highway funds to states proportionate to estimated use.
Toll collection is stupid inefficient and privacy invasive.
And if people wanted, the President of the National Cycling Federation could present the Secretary of Transportation with a $5 bill in an annual ceremony.
So let say the truck has a $5000 tax to pay for yearly wear and tear on roads, but they also get a $5000 tax cut to reduce costs in the transportation sector. That will leave cars to still pay their road tax, even if in comparison they would be a tiny portion of the total road tax.