Again - not necessarily. If the VED is £190, a road pricing is set at 2p per mile, your example yields a result of £2,002 to the exchequer.
If the average mileage is 8,000 pa and current VED is £200, setting the mileage cost at 2.5p per mile yields the same return for average users paying average VED.
Job done?
The decision not to implement years ago, is (I suspect) in part mechanics (how to collect, what if you drive abroad or off road), and part political will (making previously "free" things "paid for" is unpopular, and does not collect votes.