Highways certainly boost ROI, but there's devil in the details.
The interstates that linked up major cities certainly boosted investment. But Europe also built a network of such highways; the major difference is that they built their system to go mostly around cities, whereas the US just plowed them straight through cities. (The reasoning being that you don't really want to subject traffic passing through to high levels of commuter congestion, you want to minimize impacts to high concentrations of people and businesses, land acquisition is cheaper outside cities than inside, etc.) Because they did not impact nearly as many people to the same degree, Europe didn't experience the same overcorrection in terms of public process. (There is NIMBY-ism in Europe, to be sure, but they are definitely more successful at actually building things and keeping costs low compared to the US.)
There is also the subject of diminishing returns. Cutting travel time between the coasts from weeks to days is certainly a huge return on investment. Today most expansion projects look like "let's cut 30 seconds of waiting at this traffic light" at a cost of hundreds of millions of dollars at times. The report you linked is from ASCE, which is not exactly a neutral party for infrastructure development. Here's a critique of an earlier report from the same organization:
> Consider the following from the report:
> ASCE estimated the "costs to households and businesses" from transportation deficiencies in 2010 to be $130 billion. (page 3)
> ASCE estimated the cumulative losses to businesses will be $430 billion by 2020. (page 5)
> ASCE estimated the cumulative losses to households will be $482 billion by 2020. (page 5)
> If you add these together, the total cost to households and businesses is $1.042 trillion. Well, ASCE states that to reach "minimum tolerable conditions" (a pretty sad standard) would take an investment of $220 billion annually. Over 10 years, that's $2.2 trillion. Yeah, you read that right. The American Society of Civil Engineers wrote a report suggesting that over the next decade we spend $2.2 trillion so we can save $1.0 trillion.