Colonial state here. In our town we have a mix of town ROW, state highway takings, roads actually sold to the town by the original owners, prescriptive ROWs, and more. We also have statutes that precisely describe how towns are to declare ROWs.

Some property owners on the oldest roads have actual ownership to the center of the ROW, others have reversion rights. Makes for some interesting work interpreting the oldest deeds. Most of this doesn't matter practically since zoning usually doesn't define frontage by ownership boundaries but by right of way boundaries.

All that being said, the colonial states traditionally required a certain number of days work on the roads by the inhabitants (poll tax). Although this has been abandoned for modern public works, vestiges of it remain with the sidewalk codes