The local communities paid for that infra. With zoning laws and during the development of subdivision. The cost of land for their lot reflects the additional land cost and and infra developed. They also pay utility connection fee so the city can build plumbing/sewage infra.
Also, homeowners pay 3% property tax (Texas). This pays for everything local, schools, roads, police, parks and a ton of other things.
Homeowners also pay their HOAs, while not as much as property taxes, this covers a ton of things within their subdivisions.
The super rich are free loading on all of this infrastructure.
My point is that pedestrians don't directly pay fair share of costs. Just like trucks don't directly pay fair share of costs of roads. Scenario is exactly the same. Or really much much worse with pedestrians. There is no tax they directly pay for the roads. I see no reason why they should be treated different from trucks.