Taxes make me unhappy and yes, all sorts of things the government does, many of them related to infrastructure are designed to manipulate people at scale. Often it's manipulation for "the greater good". Sometimes it's not.
Having my infrastructure subsidized slightly more by ads and less by taxes makes me less unhappy.
Advertising on public space is highly unobtrusive, like a banner ad compared to some JS advert that covers the whole canvas and tries to trick you into clicking it.
The overwhelming majority of of advertisement is irrelevant to any given person. I'm not in the market for ED pills, high end vodka or student loan refinancing. When it's irrelevant like that it's just white noise. If I do see something relevant them maybe I'll look into it and maybe exchange my money for whatever is being sold and it's a win for both parties.
Paying for infrastructure is a necessary evil. That money has to come from somewhere. Ads are a fundamentally less evil way of satisfying that necessity than taxes.
Also, the ads on the subway have never tried to run malicious code on me and don't report my metadata to Google/FB/the NSA/etc.