These roads can be maintained just as they are for cars, except they would need much less repaving work as bicycles do not cause as much wear and tear as a car or truck.
As this develops you can narrow the actual roadway for those roads and increase sidewalk size where appropriate. With some of this increased sidewalk space you place racks for locked parking.
I'm a recent bike purchaser, I've had my ebike for about a year. I love my little cargo bike and take it all over my moderately sleepy city neighborhood to run errands, see friends, etc. I'm very nervous, however to take it anywhere near the downtown core. Too much traffic, bike lanes are generally 'paint only'. If I had separated infrastructure I would certainly travel downtown more often (there is a lot of separated infrastructure that can get me from my house to the edge of downtown, but once i'm downtown it's a shitshow). So I think that priming the pump with safe infrastructure is necessary to increase the use of modes of transport like bikes/ebikes/scooters/monowheels/etc.
Once the use is up, the secondary effects will follow. More bike repair 'garages', more secure space to lock up in parking garages w/ charging (most ebikes just charge on a 110v wall wart (in my case a pretty beefy one) but that just means simple dc hookups.. I'm not sure if the current crop of ebikes have standardized on a particular voltage but over time in this scenario I suspect they will.
I guess my point is that re-engineering is already happening in many cities. For years it was paint only bike lanes, now in my city (Seattle) we're starting to see even more bike lanes, though most paint only or shitty lane separation 'flags'. But also some more separated infrastructure. Hell last I checked they have fallen short on spending the budgets we give them for this stuff already.
Car infrastructure was built up very quickly and without much actual thought. Hopefully we can do better.