On private lands that may be the case, but not on public roads. On public roads the government establishes the rules, and if they require vehicles to be both licensed and registered, and operators to possess the appropriate license, then that is well-within their authority. The US Constitution protects your right to travel, but it does not specify the mode of travel that is protected.
The right to travel freely is protected under Article IV, Section 2, Clause 1 of the US Constitution: "The Citizens of each State shall be entitled to all Privileges and Immunities of Citizens in the several States."
In
Ward v. Maryland, 79 U.S. 418, 430 (1870) when referring to the Privileges and Immunity Clause of the US Constitution the Supreme Court held "beyond doubt those words are words of very comprehensive meaning, but it will be sufficient to say that the clause plainly and unmistakably secures and protects the right of a citizen of one state to pass into any other state of the Union ..."
In
Paul v. Virginia, 75 U.S. 168 (1869) in regard to the Privileges and Immunity Clause the Supreme Court held "It relieves them from the disabilities of alienage in other States; it inhibits discriminating legislation against them by other States;
it gives them the right of free ingress into other States, and egress from them; it insures to them in other States the same freedom possessed by the citizens of those States in the acquisition and enjoyment of property and in the pursuit of happiness; and it secures to them in other States the equal protection of their laws."
More recently, in
United States v. Guest, 383 U.S. 745 (1966) the Supreme Court reaffirmed that everyone under the jurisdiction of the US Constitution has the constitutionally protected right to travel from State to State.
There is absolutely nothing that protects a specific means of travel. The one means of travel that government cannot impede is traveling under your own power. So you are certainly free to crawl, walk, jog, run, or even swim, from State to State if you so choose. However, if you intend to use public roads then you are required to abide by the laws and regulations established for those public roads by the governyep. ment.