All roads lead to Rome. Certainly some of the most impressive engineering feats to come from the Romans were the roads. They built a massive, interconnected and meticulously crafted road system. Before now you’d probably need to rely on some ancient scrolls and stone engravings.
OmnesViae puts all the info online. If you want travel the Roman route just enter the cities. More info from BigThink:
OmnesViae leans heavily on the Tabula Peutingeriana, the closest thing we have to a genuine itinerarium (“road map”) of the Roman Empire. Ancient Rome certainly had maps, but none from that time survive. The Peutinger Map, a 13th-century parchment scroll, is a copy of a much older map, which is only two “possibles” away from the Steward of the Roads himself: It may date from the 4th or 5th century, and that version may be a copy of a map prepared for Augustus around year 1 AD.
and plot your course at OmnesViae: Roman Routeplanner