I recall back in 1988, I was working for the US Census Bureau doing something they called a "Pre-Census Survey". They had maps with all their blocks configured. These were compiled from a large number of sources. City maps, State Dept of Highway maps, Planning maps, etc, etc. Was about 85% accurate. I was in rural WV and some of the things they listed as roads had not been roads for 100 years. Other areas were where the Dept of Highways had originally planned to re-route roads to, but never actually did it. We spent a lot of time correcting that.
A couple years later, I am in Colorado at CU working with GPS and GIS data. I recalled that the Census Bureau had done a lot of mapping and maybe it was online. And.. yes. It was. Has been online now for over 20 years.
https://www.census.gov/geo/map...
That is, as near as I can determine it's free as I just downloaded my county map with no issues. Pulling it apart, I see the edge info as well as the .shp shapefile.
This usually is the starting point for mapping efforts in the US as near as I can tell. Start with the TIGER data, then add or correct as needed.