You can definitely have no publicly owned or maintained roads though. There are none in my area of town and $0 tax/public funding. It's private property all the way down. The only reason why public roads look like barely competed against monopolies is that you can't compete with "free" (at the point of use), which creates the illusion that the public element of roads are more crucial than they are. But if you just shit-can all the public transport private transport will emerge organically.